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Add a way to indicate a Sendable is an actuator (#1226)

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SendableBuilder.setActuator() sets the .actuator key in the network table
so dashboards can change behavior on the client side if desired, and also
sets a local flag (retrievable via isActuator()).

Both make drive bases actuators and call setSafeState on them.
This commit is contained in:
Peter Johnson
2018-07-28 14:04:46 -07:00
committed by GitHub
parent 5fafaf6272
commit 0614913f1a
25 changed files with 78 additions and 0 deletions
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1
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -136,6 +136,7 @@ bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Double Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=]() { Set(kOff); });
builder.AddSmallStringProperty(
"Value",

1
wpilibc/src/main/native/cpp/NidecBrushless.cpp
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@@ -84,6 +84,7 @@ int NidecBrushless::GetChannel() const { return m_pwm.GetChannel(); }
void NidecBrushless::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Nidec Brushless");
builder.SetActuator(true);
builder.SetSafeState([=]() { StopMotor(); });
builder.AddDoubleProperty("Value", [=]() { return Get(); },
[=](double value) { Set(value); });

1
wpilibc/src/main/native/cpp/PWM.cpp
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@@ -184,6 +184,7 @@ int PWM::GetChannel() const { return m_channel; }
void PWM::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("PWM");
builder.SetActuator(true);
builder.SetSafeState([=]() { SetDisabled(); });
builder.AddDoubleProperty("Value", [=]() { return GetRaw(); },
[=](double value) { SetRaw(value); });

1
wpilibc/src/main/native/cpp/PWMSpeedController.cpp
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@@ -33,6 +33,7 @@ PWMSpeedController::PWMSpeedController(int channel) : SafePWM(channel) {}
void PWMSpeedController::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=]() { SetDisabled(); });
builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
[=](double value) { SetSpeed(value); });

1
wpilibc/src/main/native/cpp/Relay.cpp
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@@ -201,6 +201,7 @@ void Relay::GetDescription(wpi::raw_ostream& desc) const {
void Relay::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Relay");
builder.SetActuator(true);
builder.SetSafeState([=]() { Set(kOff); });
builder.AddSmallStringProperty(
"Value",

1
wpilibc/src/main/native/cpp/Solenoid.cpp
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@@ -87,6 +87,7 @@ void Solenoid::StartPulse() {
void Solenoid::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=]() { Set(false); });
builder.AddBooleanProperty("Value", [=]() { return Get(); },
[=](bool value) { Set(value); });

1
wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
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@@ -46,6 +46,7 @@ void SpeedControllerGroup::PIDWrite(double output) { Set(output); }
void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=]() { StopMotor(); });
builder.AddDoubleProperty("Value", [=]() { return Get(); },
[=](double value) { Set(value); });

2
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -211,6 +211,8 @@ void DifferentialDrive::GetDescription(wpi::raw_ostream& desc) const {
void DifferentialDrive::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("DifferentialDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
[=]() { return m_leftMotor.Get(); },
[=](double value) { m_leftMotor.Set(value); });

2
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -101,6 +101,8 @@ void KilloughDrive::GetDescription(wpi::raw_ostream& desc) const {
void KilloughDrive::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("KilloughDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
[=]() { return m_leftMotor.Get(); },
[=](double value) { m_leftMotor.Set(value); });

2
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -107,6 +107,8 @@ void MecanumDrive::GetDescription(wpi::raw_ostream& desc) const {
void MecanumDrive::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Front Left Motor Speed",
[=]() { return m_frontLeftMotor.Get(); },
[=](double value) { m_frontLeftMotor.Set(value); });

7
wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
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@@ -21,6 +21,8 @@ std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
return m_table;
}
bool SendableBuilderImpl::IsActuator() const { return m_actuator; }
void SendableBuilderImpl::UpdateTable() {
uint64_t time = nt::Now();
for (auto& property : m_properties) {
@@ -53,6 +55,11 @@ void SendableBuilderImpl::SetSmartDashboardType(const wpi::Twine& type) {
m_table->GetEntry(".type").SetString(type);
}
void SendableBuilderImpl::SetActuator(bool value) {
m_table->GetEntry(".actuator").SetBoolean(value);
m_actuator = value;
}
void SendableBuilderImpl::SetSafeState(std::function<void()> func) {
m_safeState = func;
}

8
wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilder.h
View File

@@ -32,6 +32,14 @@ class SendableBuilder {
*/
virtual void SetSmartDashboardType(const wpi::Twine& type) = 0;
/**
* Set a flag indicating if this sendable should be treated as an actuator.
* By default this flag is false.
*
* @param value true if actuator, false if not
*/
virtual void SetActuator(bool value) = 0;
/**
* Set the function that should be called to set the Sendable into a safe
* state. This is called when entering and exiting Live Window mode.

8
wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
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@@ -46,6 +46,12 @@ class SendableBuilderImpl : public SendableBuilder {
*/
std::shared_ptr<nt::NetworkTable> GetTable();
/**
* Return whether this sendable should be treated as an actuator.
* @return True if actuator, false if not.
*/
bool IsActuator() const;
/**
* Update the network table values by calling the getters for all properties.
*/
@@ -74,6 +80,7 @@ class SendableBuilderImpl : public SendableBuilder {
void StopLiveWindowMode();
void SetSmartDashboardType(const wpi::Twine& type) override;
void SetActuator(bool value) override;
void SetSafeState(std::function<void()> func) override;
void SetUpdateTable(std::function<void()> func) override;
nt::NetworkTableEntry GetEntry(const wpi::Twine& key) override;
@@ -188,6 +195,7 @@ class SendableBuilderImpl : public SendableBuilder {
std::function<void()> m_updateTable;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_controllableEntry;
bool m_actuator = false;
};
} // namespace frc

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
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@@ -166,6 +166,7 @@ public class DoubleSolenoid extends SolenoidBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Double Solenoid");
builder.setActuator(true);
builder.setSafeState(() -> set(Value.kOff));
builder.addStringProperty("Value", () -> get().name().substring(1), value -> {
if ("Forward".equals(value)) {

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
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@@ -196,6 +196,7 @@ public class NidecBrushless extends SendableBase implements SpeedController, Mot
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Nidec Brushless");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Value", this::get, this::set);
}

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
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@@ -242,6 +242,7 @@ public class PWM extends SendableBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("PWM");
builder.setActuator(true);
builder.setSafeState(this::setDisabled);
builder.addDoubleProperty("Value", this::getRaw, value -> setRaw((int) value));
}

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
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@@ -77,6 +77,7 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Speed Controller");
builder.setActuator(true);
builder.setSafeState(this::setDisabled);
builder.addDoubleProperty("Value", this::getSpeed, this::setSpeed);
}

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
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@@ -334,6 +334,7 @@ public class Relay extends SendableBase implements MotorSafety {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Relay");
builder.setActuator(true);
builder.setSafeState(() -> set(Value.kOff));
builder.addStringProperty("Value", () -> get().getPrettyValue(),
value -> set(Value.getValueOf(value).orElse(Value.kOff)));

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
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@@ -115,6 +115,7 @@ public class Solenoid extends SolenoidBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Solenoid");
builder.setActuator(true);
builder.setSafeState(() -> set(false));
builder.addBooleanProperty("Value", this::get, this::set);
}

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
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@@ -83,6 +83,7 @@ public class SpeedControllerGroup extends SendableBase implements SpeedControlle
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Speed Controller");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Value", this::get, this::set);
}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
View File

@@ -390,6 +390,8 @@ public class DifferentialDrive extends RobotDriveBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("DifferentialDrive");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Left Motor Speed", m_leftMotor::get, m_leftMotor::set);
builder.addDoubleProperty(
"Right Motor Speed",

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
View File

@@ -204,6 +204,8 @@ public class KilloughDrive extends RobotDriveBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("KilloughDrive");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Left Motor Speed", m_leftMotor::get, m_leftMotor::set);
builder.addDoubleProperty("Right Motor Speed", m_rightMotor::get, m_rightMotor::set);
builder.addDoubleProperty("Back Motor Speed", m_backMotor::get, m_backMotor::set);

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
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@@ -208,6 +208,8 @@ public class MecanumDrive extends RobotDriveBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("MecanumDrive");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Front Left Motor Speed",
m_frontLeftMotor::get,
m_frontLeftMotor::set);

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilder.java
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@@ -25,6 +25,14 @@ public interface SendableBuilder {
*/
void setSmartDashboardType(String type);
/**
* Set a flag indicating if this sendable should be treated as an actuator.
* By default this flag is false.
*
* @param value true if actuator, false if not
*/
void setActuator(boolean value);
/**
* Set the function that should be called to set the Sendable into a safe
* state. This is called when entering and exiting Live Window mode.

21
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
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@@ -58,6 +58,7 @@ public class SendableBuilderImpl implements SendableBuilder {
private Runnable m_updateTable;
private NetworkTable m_table;
private NetworkTableEntry m_controllableEntry;
private boolean m_actuator;
/**
* Set the network table. Must be called prior to any Add* functions being
@@ -77,6 +78,14 @@ public class SendableBuilderImpl implements SendableBuilder {
return m_table;
}
/**
* Return whether this sendable should be treated as an actuator.
* @return True if actuator, false if not.
*/
public boolean isActuator() {
return m_actuator;
}
/**
* Update the network table values by calling the getters for all properties.
*/
@@ -144,6 +153,18 @@ public class SendableBuilderImpl implements SendableBuilder {
m_table.getEntry(".type").setString(type);
}
/**
* Set a flag indicating if this sendable should be treated as an actuator.
* By default this flag is false.
*
* @param value true if actuator, false if not
*/
@Override
public void setActuator(boolean value) {
m_table.getEntry(".actuator").setBoolean(value);
m_actuator = value;
}
/**
* Set the function that should be called to set the Sendable into a safe
* state. This is called when entering and exiting Live Window mode.