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[wpilib] Deprecate getInstance() in favor of static functions (#3440)

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Co-authored-by: Noam Zaks <imnoamzaks@gmail.com>
This commit is contained in:
Peter Johnson
2021-06-15 23:06:03 -07:00
committed by GitHub
parent 26ff9371d9
commit 362066a9b7
105 changed files with 1500 additions and 1539 deletions
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20
wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
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@@ -186,9 +186,9 @@ void Scheduler::InitSendable(nt::NTSendableBuilder& builder) {
if (m_impl->runningCommandsChanged) {
m_impl->commandsBuf.resize(0);
m_impl->idsBuf.resize(0);
auto& registry = wpi::SendableRegistry::GetInstance();
for (const auto& command : m_impl->commands) {
m_impl->commandsBuf.emplace_back(registry.GetName(command));
m_impl->commandsBuf.emplace_back(
wpi::SendableRegistry::GetName(command));
m_impl->idsBuf.emplace_back(command->GetID());
}
nt::NetworkTableEntry(namesEntry).SetStringArray(m_impl->commandsBuf);
@@ -200,20 +200,18 @@ void Scheduler::InitSendable(nt::NTSendableBuilder& builder) {
Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
wpi::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] {
wpi::SendableRegistry::AddLW(this, "Scheduler");
frc::LiveWindow::SetEnabledCallback([this] {
this->SetEnabled(false);
this->RemoveAll();
};
scheduler->disabled = [this] { this->SetEnabled(true); };
});
frc::LiveWindow::SetDisabledCallback([this] { this->SetEnabled(true); });
}
Scheduler::~Scheduler() {
wpi::SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr;
scheduler->disabled = nullptr;
wpi::SendableRegistry::Remove(this);
frc::LiveWindow::SetEnabledCallback(nullptr);
frc::LiveWindow::SetDisabledCallback(nullptr);
}
void Scheduler::Impl::Remove(Command* command) {