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Fix move handling of C++ Sendable in SmartDashboard and LiveWindow

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This commit is contained in:
Peter Johnson
2019-10-17 22:01:31 -07:00
parent d726591ce4
commit 05c25deb7b
6 changed files with 244 additions and 134 deletions
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80
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
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@@ -24,7 +24,6 @@ struct LiveWindow::Impl {
Impl();
struct Component {
SendableBuilderImpl builder;
bool firstTime = true;
bool telemetryEnabled = true;
};
@@ -85,13 +84,11 @@ void LiveWindow::DisableTelemetry(Sendable* sendable) {
void LiveWindow::DisableAllTelemetry() {
std::scoped_lock lock(m_impl->mutex);
m_impl->telemetryEnabled = false;
m_impl->registry.ForeachLiveWindow(
m_impl->dataHandle, [&](Sendable*, wpi::StringRef, wpi::StringRef,
Sendable*, std::shared_ptr<void>& data) {
if (!data) data = std::make_shared<Impl::Component>();
std::static_pointer_cast<Impl::Component>(data)->telemetryEnabled =
false;
});
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
if (!cbdata.data) cbdata.data = std::make_shared<Impl::Component>();
std::static_pointer_cast<Impl::Component>(cbdata.data)->telemetryEnabled =
false;
});
}
bool LiveWindow::IsEnabled() const {
@@ -111,13 +108,9 @@ void LiveWindow::SetEnabled(bool enabled) {
scheduler->SetEnabled(false);
scheduler->RemoveAll();
} else {
m_impl->registry.ForeachLiveWindow(
m_impl->dataHandle, [&](Sendable*, wpi::StringRef, wpi::StringRef,
Sendable*, std::shared_ptr<void>& data) {
if (data)
std::static_pointer_cast<Impl::Component>(data)
->builder.StopLiveWindowMode();
});
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
cbdata.builder.StopLiveWindowMode();
});
scheduler->SetEnabled(true);
}
m_impl->enabledEntry.SetBoolean(enabled);
@@ -132,42 +125,39 @@ void LiveWindow::UpdateValuesUnsafe() {
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!m_impl->liveWindowEnabled && !m_impl->telemetryEnabled) return;
m_impl->registry.ForeachLiveWindow(
m_impl->dataHandle,
[&](Sendable* sendable, wpi::StringRef name, wpi::StringRef subsystem,
Sendable* parent, std::shared_ptr<void>& data) {
if (!sendable || parent) return;
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
if (!cbdata.sendable || cbdata.parent) return;
if (!data) data = std::make_shared<Impl::Component>();
if (!cbdata.data) cbdata.data = std::make_shared<Impl::Component>();
auto& comp = *std::static_pointer_cast<Impl::Component>(data);
auto& comp = *std::static_pointer_cast<Impl::Component>(cbdata.data);
if (!m_impl->liveWindowEnabled && !comp.telemetryEnabled) return;
if (!m_impl->liveWindowEnabled && !comp.telemetryEnabled) return;
if (comp.firstTime) {
// By holding off creating the NetworkTable entries, it allows the
// components to be redefined. This allows default sensor and actuator
// values to be created that are replaced with the custom names from
// users calling setName.
if (name.empty()) return;
auto ssTable = m_impl->liveWindowTable->GetSubTable(subsystem);
std::shared_ptr<NetworkTable> table;
// Treat name==subsystem as top level of subsystem
if (name == subsystem)
table = ssTable;
else
table = ssTable->GetSubTable(name);
table->GetEntry(".name").SetString(name);
comp.builder.SetTable(table);
sendable->InitSendable(comp.builder);
ssTable->GetEntry(".type").SetString("LW Subsystem");
if (comp.firstTime) {
// By holding off creating the NetworkTable entries, it allows the
// components to be redefined. This allows default sensor and actuator
// values to be created that are replaced with the custom names from
// users calling setName.
if (cbdata.name.empty()) return;
auto ssTable = m_impl->liveWindowTable->GetSubTable(cbdata.subsystem);
std::shared_ptr<NetworkTable> table;
// Treat name==subsystem as top level of subsystem
if (cbdata.name == cbdata.subsystem)
table = ssTable;
else
table = ssTable->GetSubTable(cbdata.name);
table->GetEntry(".name").SetString(cbdata.name);
cbdata.builder.SetTable(table);
cbdata.sendable->InitSendable(cbdata.builder);
ssTable->GetEntry(".type").SetString("LW Subsystem");
comp.firstTime = false;
}
comp.firstTime = false;
}
if (m_impl->startLiveWindow) comp.builder.StartLiveWindowMode();
comp.builder.UpdateTable();
});
if (m_impl->startLiveWindow) cbdata.builder.StartLiveWindowMode();
cbdata.builder.UpdateTable();
});
m_impl->startLiveWindow = false;
}