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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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39
wpilibc/src/main/native/cpp/Servo.cpp
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@@ -30,9 +30,7 @@ Servo::Servo(int channel) : SafePWM(channel) {
}
Servo::~Servo() {
if (m_table != nullptr) {
m_table->RemoveTableListener(this);
}
if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
}
/**
@@ -98,35 +96,38 @@ double Servo::GetAngle() const {
return GetPosition() * GetServoAngleRange() + kMinServoAngle;
}
void Servo::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {
if (!value->IsDouble()) return;
Set(value->GetDouble());
}
void Servo::UpdateTable() {
if (m_table != nullptr) {
m_table->PutNumber("Value", Get());
}
if (m_valueEntry) m_valueEntry.SetDouble(Get());
}
void Servo::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->IsDouble()) return;
Set(event.value->GetDouble());
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
}
}
void Servo::StopLiveWindowMode() {
if (m_table != nullptr) {
m_table->RemoveTableListener(this);
if (m_valueListener != 0) {
m_valueEntry.RemoveListener(m_valueListener);
m_valueListener = 0;
}
}
std::string Servo::GetSmartDashboardType() const { return "Servo"; }
void Servo::InitTable(std::shared_ptr<ITable> subTable) {
void Servo::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> Servo::GetTable() const { return m_table; }
std::shared_ptr<nt::NetworkTable> Servo::GetTable() const { return m_table; }