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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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36
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
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@@ -14,27 +14,17 @@
#include <wpi/mutex.h>
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
namespace {
class SmartDashboardData {
public:
SmartDashboardData() = default;
explicit SmartDashboardData(Sendable* sendable_) : sendable(sendable_) {}
Sendable* sendable = nullptr;
SendableBuilderImpl builder;
};
class Singleton {
public:
static Singleton& GetInstance();
std::shared_ptr<nt::NetworkTable> table;
wpi::StringMap<SmartDashboardData> tablesToData;
wpi::StringMap<SendableRegistry::UID> tablesToData;
wpi::mutex tablesToDataMutex;
private:
@@ -98,14 +88,13 @@ void SmartDashboard::PutData(wpi::StringRef key, Sendable* data) {
}
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto& sddata = inst.tablesToData[key];
if (!sddata.sendable || sddata.sendable != data) {
sddata = SmartDashboardData(data);
auto& uid = inst.tablesToData[key];
auto& registry = SendableRegistry::GetInstance();
Sendable* sddata = registry.GetSendable(uid);
if (sddata != data) {
uid = registry.GetUniqueId(data);
auto dataTable = inst.table->GetSubTable(key);
sddata.builder.SetTable(dataTable);
data->InitSendable(sddata.builder);
sddata.builder.UpdateTable();
sddata.builder.StartListeners();
registry.Publish(uid, dataTable);
dataTable->GetEntry(".name").SetString(key);
}
}
@@ -122,12 +111,12 @@ void SmartDashboard::PutData(Sendable* value) {
Sendable* SmartDashboard::GetData(wpi::StringRef key) {
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto data = inst.tablesToData.find(key);
if (data == inst.tablesToData.end()) {
auto it = inst.tablesToData.find(key);
if (it == inst.tablesToData.end()) {
wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key);
return nullptr;
}
return data->getValue().sendable;
return SendableRegistry::GetInstance().GetSendable(it->getValue());
}
bool SmartDashboard::PutBoolean(wpi::StringRef keyName, bool value) {
@@ -262,10 +251,9 @@ void SmartDashboard::PostListenerTask(std::function<void()> task) {
}
void SmartDashboard::UpdateValues() {
auto& registry = SendableRegistry::GetInstance();
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
for (auto& i : inst.tablesToData) {
i.getValue().builder.UpdateTable();
}
for (auto& i : inst.tablesToData) registry.Update(i.getValue());
listenerExecutor.RunListenerTasks();
}