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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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10
wpilibc/src/main/native/include/ADXL345_I2C.h
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@@ -13,6 +13,7 @@
#include "I2C.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -71,9 +72,9 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
virtual AllAxes GetAccelerations();
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
@@ -81,7 +82,10 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
I2C m_i2c;
private:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
};
} // namespace frc

10
wpilibc/src/main/native/include/ADXL345_SPI.h
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@@ -14,6 +14,7 @@
#include "SPI.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -73,9 +74,9 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
virtual AllAxes GetAccelerations();
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
@@ -83,7 +84,10 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
SPI m_spi;
private:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
};
} // namespace frc

10
wpilibc/src/main/native/include/ADXL362.h
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@@ -14,6 +14,7 @@
#include "SPI.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -52,9 +53,9 @@ class ADXL362 : public Accelerometer, public LiveWindowSendable {
virtual AllAxes GetAccelerations();
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
@@ -62,7 +63,10 @@ class ADXL362 : public Accelerometer, public LiveWindowSendable {
SPI m_spi;
double m_gsPerLSB = 0.001;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
};
} // namespace frc

8
wpilibc/src/main/native/include/AnalogAccelerometer.h
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@@ -14,6 +14,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -41,8 +42,8 @@ class AnalogAccelerometer : public SensorBase,
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
private:
void InitAccelerometer();
@@ -51,7 +52,8 @@ class AnalogAccelerometer : public SensorBase,
double m_voltsPerG = 1.0;
double m_zeroGVoltage = 2.5;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

8
wpilibc/src/main/native/include/AnalogInput.h
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@@ -17,6 +17,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -81,8 +82,8 @@ class AnalogInput : public SensorBase,
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
private:
int m_channel;
@@ -90,7 +91,8 @@ class AnalogInput : public SensorBase,
HAL_AnalogInputHandle m_port;
int64_t m_accumulatorOffset;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

8
wpilibc/src/main/native/include/AnalogOutput.h
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@@ -14,6 +14,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -33,14 +34,15 @@ class AnalogOutput : public SensorBase, public LiveWindowSendable {
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
protected:
int m_channel;
HAL_AnalogOutputHandle m_port;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

8
wpilibc/src/main/native/include/AnalogPotentiometer.h
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@@ -13,6 +13,7 @@
#include "AnalogInput.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "interfaces/Potentiometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -71,9 +72,9 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
* Live Window code, only does anything if live window is activated.
*/
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
/**
* AnalogPotentiometers don't have to do anything special when entering the
@@ -90,7 +91,8 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
private:
std::shared_ptr<AnalogInput> m_analog_input;
double m_fullRange, m_offset;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

10
wpilibc/src/main/native/include/BuiltInAccelerometer.h
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@@ -13,6 +13,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -35,14 +36,17 @@ class BuiltInAccelerometer : public Accelerometer,
double GetZ() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<NetworkTable> subtable) override;
void UpdateTable() override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
private:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
};
} // namespace frc

12
wpilibc/src/main/native/include/Buttons/NetworkButton.h
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@@ -8,23 +8,25 @@
#pragma once
#include <memory>
#include <string>
#include <llvm/StringRef.h>
#include "Buttons/Button.h"
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
class NetworkButton : public Button {
public:
NetworkButton(const std::string& tableName, const std::string& field);
NetworkButton(std::shared_ptr<ITable> table, const std::string& field);
NetworkButton(llvm::StringRef tableName, llvm::StringRef field);
NetworkButton(std::shared_ptr<nt::NetworkTable> table, llvm::StringRef field);
virtual ~NetworkButton() = default;
virtual bool Get();
private:
std::shared_ptr<ITable> m_netTable;
std::string m_field;
nt::NetworkTableEntry m_entry;
};
} // namespace frc

8
wpilibc/src/main/native/include/Buttons/Trigger.h
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@@ -11,6 +11,7 @@
#include <string>
#include "SmartDashboard/Sendable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -43,12 +44,13 @@ class Trigger : public Sendable {
void CancelWhenActive(Command* command);
void ToggleWhenActive(Command* command);
void InitTable(std::shared_ptr<ITable> subtable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::string GetSmartDashboardType() const override;
protected:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_pressedEntry;
};
} // namespace frc

6
wpilibc/src/main/native/include/CameraServer.h
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@@ -293,7 +293,7 @@ class CameraServer : public ErrorBase {
private:
CameraServer();
std::shared_ptr<ITable> GetSourceTable(CS_Source source);
std::shared_ptr<nt::NetworkTable> GetSourceTable(CS_Source source);
std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
std::vector<std::string> GetSourceStreamValues(CS_Source source);
void UpdateStreamValues();
@@ -305,8 +305,8 @@ class CameraServer : public ErrorBase {
std::string m_primarySourceName;
llvm::StringMap<cs::VideoSource> m_sources;
llvm::StringMap<cs::VideoSink> m_sinks;
llvm::DenseMap<CS_Source, std::shared_ptr<ITable>> m_tables;
std::shared_ptr<NetworkTable> m_publishTable;
llvm::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
std::shared_ptr<nt::NetworkTable> m_publishTable;
cs::VideoListener m_videoListener;
int m_tableListener;
int m_nextPort;

17
wpilibc/src/main/native/include/Commands/Command.h
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@@ -13,7 +13,7 @@
#include "ErrorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -49,7 +49,7 @@ class Subsystem;
* @see CommandGroup
* @see Subsystem
*/
class Command : public ErrorBase, public NamedSendable, public ITableListener {
class Command : public ErrorBase, public NamedSendable {
friend class CommandGroup;
friend class Scheduler;
@@ -160,14 +160,17 @@ class Command : public ErrorBase, public NamedSendable, public ITableListener {
public:
std::string GetName() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::string GetSmartDashboardType() const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
protected:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
private:
nt::NetworkTableEntry m_runningEntry;
nt::NetworkTableEntry m_isParentedEntry;
NT_EntryListener m_runningListener = 0;
};
} // namespace frc

2
wpilibc/src/main/native/include/Commands/PIDCommand.h
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@@ -54,7 +54,7 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource {
std::shared_ptr<PIDController> m_controller;
public:
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
};

2
wpilibc/src/main/native/include/Commands/PIDSubsystem.h
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@@ -69,7 +69,7 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
std::shared_ptr<PIDController> m_controller;
public:
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
};

10
wpilibc/src/main/native/include/Commands/Scheduler.h
View File

@@ -21,6 +21,7 @@
#include "SmartDashboard/NamedSendable.h"
#include "SmartDashboard/SmartDashboard.h"
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -42,8 +43,8 @@ class Scheduler : public ErrorBase, public NamedSendable {
void UpdateTable();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<ITable> subTable);
std::shared_ptr<ITable> GetTable() const;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
std::shared_ptr<nt::NetworkTable> GetTable() const;
std::string GetName() const;
std::string GetType() const;
@@ -67,7 +68,10 @@ class Scheduler : public ErrorBase, public NamedSendable {
std::vector<std::string> commands;
std::vector<double> ids;
std::vector<double> toCancel;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_namesEntry;
nt::NetworkTableEntry m_idsEntry;
nt::NetworkTableEntry m_cancelEntry;
bool m_runningCommandsChanged = false;
};

11
wpilibc/src/main/native/include/Commands/Subsystem.h
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@@ -12,6 +12,7 @@
#include "ErrorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -42,12 +43,16 @@ class Subsystem : public ErrorBase, public NamedSendable {
public:
std::string GetName() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::string GetSmartDashboardType() const override;
protected:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_hasDefaultEntry;
nt::NetworkTableEntry m_defaultEntry;
nt::NetworkTableEntry m_hasCommandEntry;
nt::NetworkTableEntry m_commandEntry;
};
} // namespace frc

19
wpilibc/src/main/native/include/Compressor.h
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@@ -14,7 +14,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -31,13 +31,11 @@ namespace frc {
* loop control. You can only turn off closed loop control, thereby stopping
* the compressor from operating.
*/
class Compressor : public SensorBase,
public LiveWindowSendable,
public ITableListener {
class Compressor : public SensorBase, public LiveWindowSendable {
public:
// Default PCM ID is 0
explicit Compressor(int pcmID = GetDefaultSolenoidModule());
virtual ~Compressor() = default;
virtual ~Compressor();
void Start();
void Stop();
@@ -62,10 +60,8 @@ class Compressor : public SensorBase,
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
protected:
HAL_CompressorHandle m_compressorHandle;
@@ -74,7 +70,10 @@ class Compressor : public SensorBase,
void SetCompressor(bool on);
int m_module;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_enabledEntry;
nt::NetworkTableEntry m_pressureSwitchEntry;
NT_EntryListener m_enabledListener = 0;
};
} // namespace frc

8
wpilibc/src/main/native/include/Counter.h
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@@ -17,6 +17,7 @@
#include "CounterBase.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -98,8 +99,8 @@ class Counter : public SensorBase,
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
protected:
// Makes the counter count up.
@@ -112,7 +113,8 @@ class Counter : public SensorBase,
private:
int m_index = 0; ///< The index of this counter.
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
friend class DigitalGlitchFilter;
};

8
wpilibc/src/main/native/include/DigitalInput.h
View File

@@ -12,6 +12,7 @@
#include "DigitalSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -41,14 +42,15 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
private:
int m_channel;
HAL_DigitalHandle m_handle;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
friend class DigitalGlitchFilter;
};

16
wpilibc/src/main/native/include/DigitalOutput.h
View File

@@ -14,7 +14,7 @@
#include "DigitalSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -24,9 +24,7 @@ namespace frc {
* elsewhere will allocate channels automatically so for those devices it
* shouldn't be done here.
*/
class DigitalOutput : public DigitalSource,
public ITableListener,
public LiveWindowSendable {
class DigitalOutput : public DigitalSource, public LiveWindowSendable {
public:
explicit DigitalOutput(int channel);
virtual ~DigitalOutput();
@@ -45,21 +43,21 @@ class DigitalOutput : public DigitalSource,
AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
bool IsAnalogTrigger() const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
private:
int m_channel;
HAL_DigitalHandle m_handle;
HAL_DigitalPWMHandle m_pwmGenerator;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
};
} // namespace frc

16
wpilibc/src/main/native/include/DoubleSolenoid.h
View File

@@ -14,7 +14,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "SolenoidBase.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -25,9 +25,7 @@ namespace frc {
* The DoubleSolenoid class is typically used for pneumatics solenoids that
* have two positions controlled by two separate channels.
*/
class DoubleSolenoid : public SolenoidBase,
public LiveWindowSendable,
public ITableListener {
class DoubleSolenoid : public SolenoidBase, public LiveWindowSendable {
public:
enum Value { kOff, kForward, kReverse };
@@ -39,14 +37,12 @@ class DoubleSolenoid : public SolenoidBase,
bool IsFwdSolenoidBlackListed() const;
bool IsRevSolenoidBlackListed() const;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew);
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<ITable> subTable);
std::shared_ptr<ITable> GetTable() const;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
std::shared_ptr<nt::NetworkTable> GetTable() const;
private:
int m_forwardChannel; ///< The forward channel on the module to control.
@@ -56,7 +52,9 @@ class DoubleSolenoid : public SolenoidBase,
HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
};
} // namespace frc

10
wpilibc/src/main/native/include/Encoder.h
View File

@@ -17,6 +17,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -88,8 +89,8 @@ class Encoder : public SensorBase,
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
int GetFPGAIndex() const;
@@ -103,7 +104,10 @@ class Encoder : public SensorBase,
std::unique_ptr<DigitalSource> m_indexSource = nullptr;
HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_speedEntry;
nt::NetworkTableEntry m_distanceEntry;
nt::NetworkTableEntry m_distancePerTickEntry;
friend class DigitalGlitchFilter;
};

8
wpilibc/src/main/native/include/GyroBase.h
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@@ -14,6 +14,7 @@
#include "PIDSource.h"
#include "SensorBase.h"
#include "interfaces/Gyro.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -35,11 +36,12 @@ class GyroBase : public Gyro,
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
private:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

8
wpilibc/src/main/native/include/LiveWindow/LiveWindow.h
View File

@@ -14,7 +14,8 @@
#include "Commands/Scheduler.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITable.h"
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -75,8 +76,9 @@ class LiveWindow {
std::map<std::shared_ptr<LiveWindowSendable>, LiveWindowComponent>
m_components;
std::shared_ptr<ITable> m_liveWindowTable;
std::shared_ptr<ITable> m_statusTable;
std::shared_ptr<nt::NetworkTable> m_liveWindowTable;
std::shared_ptr<nt::NetworkTable> m_statusTable;
nt::NetworkTableEntry m_enabledEntry;
Scheduler* m_scheduler;

23
wpilibc/src/main/native/include/LiveWindow/LiveWindowStatusListener.h
View File

@@ -1,23 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2012-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include "tables/ITable.h"
#include "tables/ITableListener.h"
namespace frc {
class LiveWindowStatusListener : public ITableListener {
public:
virtual void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew);
};
} // namespace frc

27
wpilibc/src/main/native/include/PIDController.h
View File

@@ -21,6 +21,7 @@
#include "PIDInterface.h"
#include "PIDSource.h"
#include "Timer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -36,9 +37,7 @@ class PIDOutput;
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*/
class PIDController : public LiveWindowSendable,
public PIDInterface,
public ITableListener {
class PIDController : public LiveWindowSendable, public PIDInterface {
public:
PIDController(double p, double i, double d, PIDSource* source,
PIDOutput* output, double period = 0.05);
@@ -82,13 +81,26 @@ class PIDController : public LiveWindowSendable,
void Reset() override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
protected:
PIDSource* m_pidInput;
PIDOutput* m_pidOutput;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_pEntry;
nt::NetworkTableEntry m_iEntry;
nt::NetworkTableEntry m_dEntry;
nt::NetworkTableEntry m_fEntry;
nt::NetworkTableEntry m_setpointEntry;
nt::NetworkTableEntry m_enabledEntry;
NT_EntryListener m_pListener = 0;
NT_EntryListener m_iListener = 0;
NT_EntryListener m_dListener = 0;
NT_EntryListener m_fListener = 0;
NT_EntryListener m_setpointListener = 0;
NT_EntryListener m_enabledListener = 0;
virtual void Calculate();
virtual double CalculateFeedForward();
double GetContinuousError(double error) const;
@@ -142,13 +154,12 @@ class PIDController : public LiveWindowSendable,
std::unique_ptr<Notifier> m_controlLoop;
Timer m_setpointTimer;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::string GetSmartDashboardType() const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
void RemoveListeners();
};
} // namespace frc

16
wpilibc/src/main/native/include/PWM.h
View File

@@ -16,7 +16,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -37,9 +37,7 @@ namespace frc {
* - 1 = minimum pulse width (currently .5ms)
* - 0 = disabled (i.e. PWM output is held low)
*/
class PWM : public SensorBase,
public ITableListener,
public LiveWindowSendable {
class PWM : public SensorBase, public LiveWindowSendable {
public:
/**
* Represents the amount to multiply the minimum servo-pulse pwm period by.
@@ -80,16 +78,16 @@ class PWM : public SensorBase,
int GetChannel() const { return m_channel; }
protected:
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
private:
int m_channel;

10
wpilibc/src/main/native/include/PowerDistributionPanel.h
View File

@@ -12,6 +12,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -37,11 +38,14 @@ class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
private:
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_chanEntry[16];
nt::NetworkTableEntry m_voltageEntry;
nt::NetworkTableEntry m_totalCurrentEntry;
int m_module;
};

13
wpilibc/src/main/native/include/Preferences.h
View File

@@ -15,7 +15,6 @@
#include "ErrorBase.h"
#include "networktables/NetworkTable.h"
#include "tables/ITableListener.h"
namespace frc {
@@ -58,16 +57,8 @@ class Preferences : public ErrorBase {
virtual ~Preferences() = default;
private:
std::shared_ptr<ITable> m_table;
class Listener : public ITableListener {
public:
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void ValueChangedEx(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value,
uint32_t flags) override;
};
Listener m_listener;
std::shared_ptr<nt::NetworkTable> m_table;
NT_EntryListener m_listener;
};
} // namespace frc

19
wpilibc/src/main/native/include/Relay.h
View File

@@ -16,8 +16,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "MotorSafety.h"
#include "SensorBase.h"
#include "tables/ITable.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -34,10 +33,7 @@ class MotorSafetyHelper;
* independently for something that does not care about voltage polarity (like
* a solenoid).
*/
class Relay : public MotorSafety,
public SensorBase,
public ITableListener,
public LiveWindowSendable {
class Relay : public MotorSafety, public SensorBase, public LiveWindowSendable {
public:
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
@@ -57,16 +53,17 @@ class Relay : public MotorSafety,
void SetSafetyEnabled(bool enabled) override;
void GetDescription(llvm::raw_ostream& desc) const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::shared_ptr<ITable> m_table;
protected:
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
private:
int m_channel;

12
wpilibc/src/main/native/include/Servo.h
View File

@@ -12,6 +12,7 @@
#include "SafePWM.h"
#include "SpeedController.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -34,16 +35,17 @@ class Servo : public SafePWM {
static double GetMaxAngle() { return kMaxServoAngle; }
static double GetMinAngle() { return kMinServoAngle; }
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::shared_ptr<ITable> m_table;
protected:
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
private:
double GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }

6
wpilibc/src/main/native/include/SmartDashboard/Sendable.h
View File

@@ -10,7 +10,7 @@
#include <memory>
#include <string>
#include "tables/ITable.h"
#include "networktables/NetworkTable.h"
namespace frc {
@@ -20,12 +20,12 @@ class Sendable {
* Initializes a table for this sendable object.
* @param subtable The table to put the values in.
*/
virtual void InitTable(std::shared_ptr<ITable> subtable) = 0;
virtual void InitTable(std::shared_ptr<nt::NetworkTable> subtable) = 0;
/**
* @return the table that is currently associated with the sendable
*/
virtual std::shared_ptr<ITable> GetTable() const = 0;
virtual std::shared_ptr<nt::NetworkTable> GetTable() const = 0;
/**
* @return the string representation of the named data type that will be used

4
wpilibc/src/main/native/include/SmartDashboard/SendableChooser.h
View File

@@ -14,7 +14,7 @@
#include <llvm/StringRef.h>
#include "SmartDashboard/SendableChooserBase.h"
#include "tables/ITable.h"
#include "networktables/NetworkTable.h"
namespace frc {
@@ -53,7 +53,7 @@ class SendableChooser : public SendableChooserBase {
auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
};
} // namespace frc

7
wpilibc/src/main/native/include/SmartDashboard/SendableChooser.inc
View File

@@ -68,7 +68,7 @@ auto SendableChooser<T>::GetSelected()
}
template <class T>
void SendableChooser<T>::InitTable(std::shared_ptr<ITable> subtable) {
void SendableChooser<T>::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
std::vector<std::string> keys;
m_table = subtable;
if (m_table != nullptr) {
@@ -79,8 +79,9 @@ void SendableChooser<T>::InitTable(std::shared_ptr<ITable> subtable) {
// Unlike std::map, llvm::StringMap elements are not sorted
std::sort(keys.begin(), keys.end());
m_table->PutValue(kOptions, nt::Value::MakeStringArray(std::move(keys)));
m_table->PutString(kDefault, m_defaultChoice);
m_table->GetEntry(kOptions).SetValue(
nt::Value::MakeStringArray(std::move(keys)));
m_table->GetEntry(kDefault).SetString(m_defaultChoice);
}
}

6
wpilibc/src/main/native/include/SmartDashboard/SendableChooserBase.h
View File

@@ -11,7 +11,7 @@
#include <string>
#include "SmartDashboard/Sendable.h"
#include "tables/ITable.h"
#include "networktables/NetworkTable.h"
namespace frc {
@@ -25,7 +25,7 @@ class SendableChooserBase : public Sendable {
public:
virtual ~SendableChooserBase() = default;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::string GetSmartDashboardType() const override;
protected:
@@ -34,7 +34,7 @@ class SendableChooserBase : public Sendable {
static const char* kSelected;
std::string m_defaultChoice;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
};
} // namespace frc

17
wpilibc/src/main/native/include/SmartDashboard/SmartDashboard.h
View File

@@ -7,18 +7,18 @@
#pragma once
#include <map>
#include <memory>
#include <string>
#include <vector>
#include "SensorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include "SmartDashboard/Sendable.h"
#include "tables/ITable.h"
#include "networktables/NetworkTableValue.h"
namespace frc {
class NamedSendable;
class Sendable;
class SmartDashboard : public SensorBase {
public:
static void init();
@@ -86,15 +86,6 @@ class SmartDashboard : public SensorBase {
private:
virtual ~SmartDashboard() = default;
/** The {@link NetworkTable} used by {@link SmartDashboard} */
static std::shared_ptr<ITable> m_table;
/**
* A map linking tables in the SmartDashboard to the
* {@link SmartDashboardData} objects they came from.
*/
static std::map<std::shared_ptr<ITable>, Sendable*> m_tablesToData;
};
} // namespace frc

16
wpilibc/src/main/native/include/Solenoid.h
View File

@@ -14,7 +14,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "SolenoidBase.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -24,9 +24,7 @@ namespace frc {
* The Solenoid class is typically used for pneumatics solenoids, but could be
* used for any device within the current spec of the PCM.
*/
class Solenoid : public SolenoidBase,
public LiveWindowSendable,
public ITableListener {
class Solenoid : public SolenoidBase, public LiveWindowSendable {
public:
explicit Solenoid(int channel);
Solenoid(int moduleNumber, int channel);
@@ -35,19 +33,19 @@ class Solenoid : public SolenoidBase,
virtual bool Get() const;
bool IsBlackListed() const;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew);
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<ITable> subTable);
std::shared_ptr<ITable> GetTable() const;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
std::shared_ptr<nt::NetworkTable> GetTable() const;
private:
HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle;
int m_channel; ///< The channel on the module to control.
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
};
} // namespace frc

8
wpilibc/src/main/native/include/Ultrasonic.h
View File

@@ -17,6 +17,7 @@
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -69,8 +70,8 @@ class Ultrasonic : public SensorBase,
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
private:
void Initialize();
@@ -96,7 +97,8 @@ class Ultrasonic : public SensorBase,
Counter m_counter;
DistanceUnit m_units;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc