From 1c454b000fee1a26dd7542709694740f9bc5b3f0 Mon Sep 17 00:00:00 2001
From: sciencewhiz <sciencewhiz@users.noreply.github.com>
Date: Sat, 27 Apr 2019 22:23:21 -0700
Subject: [PATCH] Add Shuffleboard calls to IterativeRobotBase in C++ (#1607)

Additionally, add epochs for Shuffleboard, LiveWindow, and
Smartdashboard updates.
---
 wpilibc/src/main/native/cpp/IterativeRobotBase.cpp  | 13 +++++++++++--
 .../edu/wpi/first/wpilibj/IterativeRobotBase.java   |  7 +++++--
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 0de2004d5b..bb285f5017 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -17,6 +17,7 @@
 #include "frc/Timer.h"
 #include "frc/commands/Scheduler.h"
 #include "frc/livewindow/LiveWindow.h"
+#include "frc/shuffleboard/Shuffleboard.h"
 #include "frc/smartdashboard/SmartDashboard.h"
 
 using namespace frc;
@@ -94,6 +95,7 @@ void IterativeRobotBase::LoopFunc() {
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kDisabled) {
       LiveWindow::GetInstance()->SetEnabled(false);
+      Shuffleboard::DisableActuatorWidgets();
       DisabledInit();
       m_watchdog.AddEpoch("DisabledInit()");
       m_lastMode = Mode::kDisabled;
@@ -107,6 +109,7 @@ void IterativeRobotBase::LoopFunc() {
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kAutonomous) {
       LiveWindow::GetInstance()->SetEnabled(false);
+      Shuffleboard::DisableActuatorWidgets();
       AutonomousInit();
       m_watchdog.AddEpoch("AutonomousInit()");
       m_lastMode = Mode::kAutonomous;
@@ -120,6 +123,7 @@ void IterativeRobotBase::LoopFunc() {
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kTeleop) {
       LiveWindow::GetInstance()->SetEnabled(false);
+      Shuffleboard::DisableActuatorWidgets();
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
       m_lastMode = Mode::kTeleop;
@@ -134,6 +138,7 @@ void IterativeRobotBase::LoopFunc() {
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kTest) {
       LiveWindow::GetInstance()->SetEnabled(true);
+      Shuffleboard::EnableActuatorWidgets();
       TestInit();
       m_watchdog.AddEpoch("TestInit()");
       m_lastMode = Mode::kTest;
@@ -146,10 +151,14 @@ void IterativeRobotBase::LoopFunc() {
 
   RobotPeriodic();
   m_watchdog.AddEpoch("RobotPeriodic()");
-  m_watchdog.Disable();
-  SmartDashboard::UpdateValues();
 
+  SmartDashboard::UpdateValues();
+  m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
   LiveWindow::GetInstance()->UpdateValues();
+  m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
+  Shuffleboard::Update();
+  m_watchdog.AddEpoch("Shuffleboard::Update()");
+  m_watchdog.Disable();
 
   // Warn on loop time overruns
   if (m_watchdog.IsExpired()) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index 9dfcb64ec9..ec76870743 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -257,11 +257,14 @@ public abstract class IterativeRobotBase extends RobotBase {
 
     robotPeriodic();
     m_watchdog.addEpoch("robotPeriodic()");
-    m_watchdog.disable();
-    SmartDashboard.updateValues();
 
+    SmartDashboard.updateValues();
+    m_watchdog.addEpoch("SmartDashboard.updateValues()");
     LiveWindow.updateValues();
+    m_watchdog.addEpoch("LiveWindow.updateValues()");
     Shuffleboard.update();
+    m_watchdog.addEpoch("Shuffleboard.update()");
+    m_watchdog.disable();
 
     // Warn on loop time overruns
     if (m_watchdog.isExpired()) {