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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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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
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@@ -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