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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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57
wpilibc/src/main/native/cpp/Relay.cpp
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@@ -104,7 +104,7 @@ Relay::~Relay() {
if (m_forwardHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_forwardHandle);
if (m_reverseHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_reverseHandle);
if (m_table != nullptr) m_table->RemoveTableListener(this);
if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
}
/**
@@ -273,50 +273,55 @@ void Relay::GetDescription(llvm::raw_ostream& desc) const {
desc << "Relay " << GetChannel();
}
void Relay::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {
if (!value->IsString()) return;
if (value->GetString() == "Off")
Set(kOff);
else if (value->GetString() == "Forward")
Set(kForward);
else if (value->GetString() == "Reverse")
Set(kReverse);
else if (value->GetString() == "On")
Set(kOn);
}
void Relay::UpdateTable() {
if (m_table != nullptr) {
if (m_valueEntry) {
if (Get() == kOn) {
m_table->PutString("Value", "On");
m_valueEntry.SetString("On");
} else if (Get() == kForward) {
m_table->PutString("Value", "Forward");
m_valueEntry.SetString("Forward");
} else if (Get() == kReverse) {
m_table->PutString("Value", "Reverse");
m_valueEntry.SetString("Reverse");
} else {
m_table->PutString("Value", "Off");
m_valueEntry.SetString("Off");
}
}
}
void Relay::StartLiveWindowMode() {
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;
if (event.value->GetString() == "Off")
Set(kOff);
else if (event.value->GetString() == "Forward")
Set(kForward);
else if (event.value->GetString() == "Reverse")
Set(kReverse);
else if (event.value->GetString() == "On")
Set(kOn);
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
}
}
void Relay::StopLiveWindowMode() {
if (m_table != nullptr) {
m_table->RemoveTableListener(this);
if (m_valueListener != 0) {
m_valueEntry.RemoveListener(m_valueListener);
m_valueListener = 0;
}
}
std::string Relay::GetSmartDashboardType() const { return "Relay"; }
void Relay::InitTable(std::shared_ptr<ITable> subTable) {
void Relay::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> Relay::GetTable() const { return m_table; }
std::shared_ptr<nt::NetworkTable> Relay::GetTable() const { return m_table; }