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Update wpilibc to use new NetworkTables package and interfaces.

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This commit is contained in:
Peter Johnson
2017-09-02 00:17:43 -07:00
parent 4e80570c4c
commit 040a8c6bcc
74 changed files with 937 additions and 721 deletions
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62
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -99,7 +99,7 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
DoubleSolenoid::~DoubleSolenoid() {
HAL_FreeSolenoidPort(m_forwardHandle);
HAL_FreeSolenoidPort(m_reverseHandle);
if (m_table != nullptr) m_table->RemoveTableListener(this);
if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
}
/**
@@ -181,37 +181,44 @@ bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
return (blackList & m_reverseMask) ? 1 : 0;
}
void DoubleSolenoid::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value,
bool isNew) {
if (!value->IsString()) return;
Value lvalue = kOff;
if (value->GetString() == "Forward")
lvalue = kForward;
else if (value->GetString() == "Reverse")
lvalue = kReverse;
Set(lvalue);
}
void DoubleSolenoid::UpdateTable() {
if (m_table != nullptr) {
m_table->PutString(
"Value", (Get() == kForward ? "Forward"
: (Get() == kReverse ? "Reverse" : "Off")));
if (m_valueEntry) {
switch (Get()) {
case kForward:
m_valueEntry.SetString("Forward");
break;
case kReverse:
m_valueEntry.SetString("Reverse");
break;
default:
m_valueEntry.SetString("Off");
break;
}
}
}
void DoubleSolenoid::StartLiveWindowMode() {
Set(kOff);
if (m_table != nullptr) {
m_table->AddTableListener("Value", this, true);
if (m_valueEntry) {
m_valueListener = m_valueEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsString()) return;
Value lvalue = kOff;
if (event.value->GetString() == "Forward")
lvalue = kForward;
else if (event.value->GetString() == "Reverse")
lvalue = kReverse;
Set(lvalue);
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
}
}
void DoubleSolenoid::StopLiveWindowMode() {
Set(kOff);
if (m_table != nullptr) {
m_table->RemoveTableListener(this);
if (m_valueListener != 0) {
m_valueEntry.RemoveListener(m_valueListener);
m_valueListener = 0;
}
}
@@ -219,9 +226,16 @@ std::string DoubleSolenoid::GetSmartDashboardType() const {
return "Double Solenoid";
}
void DoubleSolenoid::InitTable(std::shared_ptr<ITable> subTable) {
void DoubleSolenoid::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
m_table = subTable;
UpdateTable();
if (m_table) {
m_valueEntry = m_table->GetEntry("Value");
UpdateTable();
} else {
m_valueEntry = nt::NetworkTableEntry();
}
}
std::shared_ptr<ITable> DoubleSolenoid::GetTable() const { return m_table; }
std::shared_ptr<nt::NetworkTable> DoubleSolenoid::GetTable() const {
return m_table;
}