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[wpilib] Add Mechanism2d tests and make Java impl match C++ (#5527)

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This commit is contained in:
Gold856
2023-09-11 01:01:33 -04:00
committed by GitHub
parent d7ef817bae
commit 298f8a6e33
4 changed files with 192 additions and 42 deletions
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2
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismObject2d.java
View File

@@ -68,7 +68,7 @@ public abstract class MechanismObject2d implements AutoCloseable {
}
/**
* Update all entries with new ones from a new table.
* Update this object's entries with new ones from a new table.
*
* @param table the new table.
*/

48
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismRoot2d.java
View File

@@ -6,8 +6,6 @@ package edu.wpi.first.wpilibj.smartdashboard;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.NetworkTable;
import java.util.HashMap;
import java.util.Map;
/**
* Root Mechanism2d node.
@@ -19,10 +17,7 @@ import java.util.Map;
*
* <p>Append other nodes by using {@link #append(MechanismObject2d)}.
*/
public final class MechanismRoot2d implements AutoCloseable {
private final String m_name;
private NetworkTable m_table;
private final Map<String, MechanismObject2d> m_objects = new HashMap<>(1);
public final class MechanismRoot2d extends MechanismObject2d {
private double m_x;
private DoublePublisher m_xPub;
private double m_y;
@@ -36,7 +31,7 @@ public final class MechanismRoot2d implements AutoCloseable {
* @param y y coordinate of root (provide only when constructing a root node)
*/
MechanismRoot2d(String name, double x, double y) {
m_name = name;
super(name);
m_x = x;
m_y = y;
}
@@ -49,29 +44,7 @@ public final class MechanismRoot2d implements AutoCloseable {
if (m_yPub != null) {
m_yPub.close();
}
for (MechanismObject2d obj : m_objects.values()) {
obj.close();
}
}
/**
* Append a Mechanism object that is based on this one.
*
* @param <T> The object type.
* @param object the object to add.
* @return the object given as a parameter, useful for variable assignments and call chaining.
* @throws UnsupportedOperationException if the object's name is already used - object names must
* be unique.
*/
public synchronized <T extends MechanismObject2d> T append(T object) {
if (m_objects.containsKey(object.getName())) {
throw new UnsupportedOperationException("Mechanism object names must be unique!");
}
m_objects.put(object.getName(), object);
if (m_table != null) {
object.update(m_table.getSubTable(object.getName()));
}
return object;
super.close();
}
/**
@@ -86,24 +59,17 @@ public final class MechanismRoot2d implements AutoCloseable {
flush();
}
synchronized void update(NetworkTable table) {
m_table = table;
@Override
protected synchronized void updateEntries(NetworkTable table) {
if (m_xPub != null) {
m_xPub.close();
}
m_xPub = m_table.getDoubleTopic("x").publish();
m_xPub = table.getDoubleTopic("x").publish();
if (m_yPub != null) {
m_yPub.close();
}
m_yPub = m_table.getDoubleTopic("y").publish();
m_yPub = table.getDoubleTopic("y").publish();
flush();
for (MechanismObject2d obj : m_objects.values()) {
obj.update(m_table.getSubTable(obj.getName()));
}
}
public String getName() {
return m_name;
}
private void flush() {