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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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2
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
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@@ -29,7 +29,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_I2C, 0);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
wpi::SendableRegistry::AddLW(this, "ADXL345_I2C", port);
}
void ADXL345_I2C::SetRange(Range range) {

2
wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
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@@ -37,7 +37,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_SPI);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
wpi::SendableRegistry::AddLW(this, "ADXL345_SPI", port);
}
void ADXL345_SPI::SetRange(Range range) {

2
wpilibc/src/main/native/cpp/ADXL362.cpp
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@@ -72,7 +72,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
HAL_Report(HALUsageReporting::kResourceType_ADXL362, port + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
wpi::SendableRegistry::AddLW(this, "ADXL362", port);
}
void ADXL362::SetRange(Range range) {

2
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -58,7 +58,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
wpi::SendableRegistry::AddLW(this, "ADXRS450_Gyro", port);
}
static bool CalcParity(int v) {

6
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
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@@ -15,7 +15,7 @@ using namespace frc;
AnalogAccelerometer::AnalogAccelerometer(int channel)
: AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
wpi::SendableRegistry::AddChild(this, m_analogInput.get());
}
AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
m_analogInput->GetChannel() + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
m_analogInput->GetChannel());
wpi::SendableRegistry::AddLW(this, "Accelerometer",
m_analogInput->GetChannel());
}

4
wpilibc/src/main/native/cpp/AnalogEncoder.cpp
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@@ -50,8 +50,8 @@ void AnalogEncoder::Init() {
m_counter.SetDownSource(
m_analogTrigger.CreateOutput(AnalogTriggerType::kFallingPulse));
wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_analogInput->GetChannel());
wpi::SendableRegistry::AddLW(this, "DutyCycle Encoder",
m_analogInput->GetChannel());
}
units::turn_t AnalogEncoder::Get() const {

7
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -23,7 +23,7 @@ using namespace frc;
AnalogGyro::AnalogGyro(int channel)
: AnalogGyro(std::make_shared<AnalogInput>(channel)) {
wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
wpi::SendableRegistry::AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(AnalogInput* channel)
@@ -41,7 +41,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
AnalogGyro::AnalogGyro(int channel, int center, double offset)
: AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
wpi::SendableRegistry::AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
@@ -124,8 +124,7 @@ void AnalogGyro::InitGyro() {
HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel() + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
m_analog->GetChannel());
wpi::SendableRegistry::AddLW(this, "AnalogGyro", m_analog->GetChannel());
}
void AnalogGyro::Calibrate() {

2
wpilibc/src/main/native/cpp/AnalogInput.cpp
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@@ -34,7 +34,7 @@ AnalogInput::AnalogInput(int channel) {
HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
wpi::SendableRegistry::AddLW(this, "AnalogInput", channel);
}
AnalogInput::~AnalogInput() {

2
wpilibc/src/main/native/cpp/AnalogOutput.cpp
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@@ -34,7 +34,7 @@ AnalogOutput::AnalogOutput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
wpi::SendableRegistry::AddLW(this, "AnalogOutput", m_channel);
}
AnalogOutput::~AnalogOutput() {

6
wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
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@@ -18,7 +18,7 @@ AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
double offset)
: AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
offset) {
wpi::SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
wpi::SendableRegistry::AddChild(this, m_analog_input.get());
}
AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
@@ -32,8 +32,8 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
: m_analog_input(std::move(input)),
m_fullRange(fullRange),
m_offset(offset) {
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
m_analog_input->GetChannel());
wpi::SendableRegistry::AddLW(this, "AnalogPotentiometer",
m_analog_input->GetChannel());
}
double AnalogPotentiometer::Get() const {

6
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
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@@ -20,7 +20,7 @@ using namespace frc;
AnalogTrigger::AnalogTrigger(int channel)
: AnalogTrigger(new AnalogInput(channel)) {
m_ownsAnalog = true;
wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput);
wpi::SendableRegistry::AddChild(this, m_analogInput);
}
AnalogTrigger::AnalogTrigger(AnalogInput* input) {
@@ -31,7 +31,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
}
AnalogTrigger::AnalogTrigger(DutyCycle* input) {
@@ -42,7 +42,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) {
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
}
AnalogTrigger::~AnalogTrigger() {

2
wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
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@@ -18,7 +18,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
"Built-in accelerometer");
wpi::SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
wpi::SendableRegistry::AddLW(this, "BuiltInAccel");
}
void BuiltInAccelerometer::SetRange(Range range) {

6
wpilibc/src/main/native/cpp/Counter.cpp
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@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
SetMaxPeriod(0.5_s);
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
wpi::SendableRegistry::AddLW(this, "Counter", m_index);
}
Counter::Counter(int channel) : Counter(kTwoPulse) {
@@ -97,7 +97,7 @@ Counter::~Counter() {
void Counter::SetUpSource(int channel) {
SetUpSource(std::make_shared<DigitalInput>(channel));
wpi::SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
wpi::SendableRegistry::AddChild(this, m_upSource.get());
}
void Counter::SetUpSource(AnalogTrigger* analogTrigger,
@@ -152,7 +152,7 @@ void Counter::ClearUpSource() {
void Counter::SetDownSource(int channel) {
SetDownSource(std::make_shared<DigitalInput>(channel));
wpi::SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
wpi::SendableRegistry::AddChild(this, m_downSource.get());
}
void Counter::SetDownSource(AnalogTrigger* analogTrigger,

3
wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
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@@ -35,8 +35,7 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
m_channelIndex + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
m_channelIndex);
wpi::SendableRegistry::AddLW(this, "DigitalGlitchFilter", m_channelIndex);
}
DigitalGlitchFilter::~DigitalGlitchFilter() {

2
wpilibc/src/main/native/cpp/DigitalInput.cpp
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@@ -33,7 +33,7 @@ DigitalInput::DigitalInput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
wpi::SendableRegistry::AddLW(this, "DigitalInput", channel);
}
DigitalInput::~DigitalInput() {

2
wpilibc/src/main/native/cpp/DigitalOutput.cpp
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@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
wpi::SendableRegistry::AddLW(this, "DigitalOutput", channel);
}
DigitalOutput::~DigitalOutput() {

5
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -53,8 +53,9 @@ DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
m_module->GetModuleNumber() + 1);
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
m_module->GetModuleNumber() + 1);
wpi::SendableRegistry::GetInstance().AddLW(
this, "DoubleSolenoid", m_module->GetModuleNumber(), m_forwardChannel);
wpi::SendableRegistry::AddLW(this, "DoubleSolenoid",
m_module->GetModuleNumber(), m_forwardChannel);
}
DoubleSolenoid::~DoubleSolenoid() {}

372
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -4,23 +4,34 @@
#include "frc/DriverStation.h"
#include <stdint.h>
#include <array>
#include <atomic>
#include <chrono>
#include <string>
#include <string_view>
#include <thread>
#include <type_traits>
#include <fmt/format.h>
#include <hal/DriverStation.h>
#include <hal/DriverStationTypes.h>
#include <hal/HALBase.h>
#include <hal/Power.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include "frc/Errors.h"
#include "frc/MotorSafety.h"
#include "frc/Timer.h"
namespace frc {
using namespace frc;
namespace {
// A simple class which caches the previous value written to an NT entry
// Used to prevent redundant, repeated writes of the same value
template <class T>
@@ -60,37 +71,94 @@ class MatchDataSenderEntry {
void SetValue(std::string_view val) { ntEntry.SetString(val); }
};
class MatchDataSender {
public:
std::shared_ptr<nt::NetworkTable> table;
MatchDataSenderEntry<std::string> typeMetaData;
MatchDataSenderEntry<std::string> gameSpecificMessage;
MatchDataSenderEntry<std::string> eventName;
MatchDataSenderEntry<double> matchNumber;
MatchDataSenderEntry<double> replayNumber;
MatchDataSenderEntry<double> matchType;
MatchDataSenderEntry<bool> alliance;
MatchDataSenderEntry<double> station;
MatchDataSenderEntry<double> controlWord;
MatchDataSender()
: table(nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo")),
typeMetaData(table, ".type", "FMSInfo"),
gameSpecificMessage(table, "GameSpecificMessage", ""),
eventName(table, "EventName", ""),
matchNumber(table, "MatchNumber", 0.0),
replayNumber(table, "ReplayNumber", 0.0),
matchType(table, "MatchType", 0.0),
alliance(table, "IsRedAlliance", true),
station(table, "StationNumber", 1.0),
controlWord(table, "FMSControlData", 0.0) {}
struct MatchDataSender {
std::shared_ptr<nt::NetworkTable> table =
nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo");
MatchDataSenderEntry<std::string> typeMetaData{table, ".type", "FMSInfo"};
MatchDataSenderEntry<std::string> gameSpecificMessage{
table, "GameSpecificMessage", ""};
MatchDataSenderEntry<std::string> eventName{table, "EventName", ""};
MatchDataSenderEntry<double> matchNumber{table, "MatchNumber", 0.0};
MatchDataSenderEntry<double> replayNumber{table, "ReplayNumber", 0.0};
MatchDataSenderEntry<double> matchType{table, "MatchType", 0.0};
MatchDataSenderEntry<bool> alliance{table, "IsRedAlliance", true};
MatchDataSenderEntry<double> station{table, "StationNumber", 1.0};
MatchDataSenderEntry<double> controlWord{table, "FMSControlData", 0.0};
};
} // namespace frc
using namespace frc;
struct Instance {
Instance();
~Instance();
MatchDataSender matchDataSender;
// Joystick button rising/falling edge flags
wpi::mutex buttonEdgeMutex;
std::array<HAL_JoystickButtons, DriverStation::kJoystickPorts>
previousButtonStates;
std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsPressed;
std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsReleased;
// Internal Driver Station thread
std::thread dsThread;
std::atomic<bool> isRunning{false};
mutable wpi::mutex waitForDataMutex;
wpi::condition_variable waitForDataCond;
int waitForDataCounter = 0;
bool silenceJoystickWarning = false;
// Robot state status variables
bool userInDisabled = false;
bool userInAutonomous = false;
bool userInTeleop = false;
bool userInTest = false;
units::second_t nextMessageTime = 0_s;
};
} // namespace
static constexpr auto kJoystickUnpluggedMessageInterval = 1_s;
static Instance& GetInstance() {
static Instance instance;
return instance;
}
static void Run();
static void SendMatchData();
/**
* Reports errors related to unplugged joysticks.
*
* Throttles the errors so that they don't overwhelm the DS.
*/
static void ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args);
template <typename S, typename... Args>
static inline void ReportJoystickUnpluggedError(const S& format,
Args&&... args) {
ReportJoystickUnpluggedErrorV(
format, fmt::make_args_checked<Args...>(format, args...));
}
/**
* Reports errors related to unplugged joysticks.
*
* Throttles the errors so that they don't overwhelm the DS.
*/
static void ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args);
template <typename S, typename... Args>
static inline void ReportJoystickUnpluggedWarning(const S& format,
Args&&... args) {
ReportJoystickUnpluggedWarningV(
format, fmt::make_args_checked<Args...>(format, args...));
}
static int& GetDSLastCount() {
// There is a rollover error condition here. At Packet# = n * (uintmax), this
// will return false when instead it should return true. However, this at a
@@ -100,14 +168,30 @@ static int& GetDSLastCount() {
return lastCount;
}
DriverStation::~DriverStation() {
m_isRunning = false;
Instance::Instance() {
HAL_Initialize(500, 0);
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for (unsigned int i = 0; i < DriverStation::kJoystickPorts; i++) {
joystickButtonsPressed[i] = 0;
joystickButtonsReleased[i] = 0;
previousButtonStates[i].count = 0;
previousButtonStates[i].buttons = 0;
}
dsThread = std::thread(&Run);
}
Instance::~Instance() {
isRunning = false;
// Trigger a DS mutex release in case there is no driver station running.
HAL_ReleaseDSMutex();
m_dsThread.join();
dsThread.join();
}
DriverStation& DriverStation::GetInstance() {
::GetInstance();
static DriverStation instance;
return instance;
}
@@ -158,14 +242,14 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
button, buttons.count);
return false;
}
std::unique_lock lock(m_buttonEdgeMutex);
auto& inst = ::GetInstance();
std::unique_lock lock(inst.buttonEdgeMutex);
// If button was pressed, clear flag and return true
if (m_joystickButtonsPressed[stick] & 1 << (button - 1)) {
m_joystickButtonsPressed[stick] &= ~(1 << (button - 1));
if (inst.joystickButtonsPressed[stick] & 1 << (button - 1)) {
inst.joystickButtonsPressed[stick] &= ~(1 << (button - 1));
return true;
} else {
return false;
}
return false;
}
bool DriverStation::GetStickButtonReleased(int stick, int button) {
@@ -189,14 +273,14 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
button, buttons.count);
return false;
}
std::unique_lock lock(m_buttonEdgeMutex);
auto& inst = ::GetInstance();
std::unique_lock lock(inst.buttonEdgeMutex);
// If button was released, clear flag and return true
if (m_joystickButtonsReleased[stick] & 1 << (button - 1)) {
m_joystickButtonsReleased[stick] &= ~(1 << (button - 1));
if (inst.joystickButtonsReleased[stick] & 1 << (button - 1)) {
inst.joystickButtonsReleased[stick] &= ~(1 << (button - 1));
return true;
} else {
return false;
}
return false;
}
double DriverStation::GetStickAxis(int stick, int axis) {
@@ -247,7 +331,7 @@ int DriverStation::GetStickPOV(int stick, int pov) {
return povs.povs[pov];
}
int DriverStation::GetStickButtons(int stick) const {
int DriverStation::GetStickButtons(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -259,7 +343,7 @@ int DriverStation::GetStickButtons(int stick) const {
return buttons.buttons;
}
int DriverStation::GetStickAxisCount(int stick) const {
int DriverStation::GetStickAxisCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -271,7 +355,7 @@ int DriverStation::GetStickAxisCount(int stick) const {
return axes.count;
}
int DriverStation::GetStickPOVCount(int stick) const {
int DriverStation::GetStickPOVCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -283,7 +367,7 @@ int DriverStation::GetStickPOVCount(int stick) const {
return povs.count;
}
int DriverStation::GetStickButtonCount(int stick) const {
int DriverStation::GetStickButtonCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -295,7 +379,7 @@ int DriverStation::GetStickButtonCount(int stick) const {
return buttons.count;
}
bool DriverStation::GetJoystickIsXbox(int stick) const {
bool DriverStation::GetJoystickIsXbox(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -307,7 +391,7 @@ bool DriverStation::GetJoystickIsXbox(int stick) const {
return static_cast<bool>(descriptor.isXbox);
}
int DriverStation::GetJoystickType(int stick) const {
int DriverStation::GetJoystickType(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return -1;
@@ -319,7 +403,7 @@ int DriverStation::GetJoystickType(int stick) const {
return static_cast<int>(descriptor.type);
}
std::string DriverStation::GetJoystickName(int stick) const {
std::string DriverStation::GetJoystickName(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
}
@@ -330,7 +414,7 @@ std::string DriverStation::GetJoystickName(int stick) const {
return descriptor.name;
}
int DriverStation::GetJoystickAxisType(int stick, int axis) const {
int DriverStation::GetJoystickAxisType(int stick, int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return -1;
@@ -342,69 +426,70 @@ int DriverStation::GetJoystickAxisType(int stick, int axis) const {
return static_cast<bool>(descriptor.axisTypes);
}
bool DriverStation::IsJoystickConnected(int stick) const {
bool DriverStation::IsJoystickConnected(int stick) {
return GetStickAxisCount(stick) > 0 || GetStickButtonCount(stick) > 0 ||
GetStickPOVCount(stick) > 0;
}
bool DriverStation::IsEnabled() const {
bool DriverStation::IsEnabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.enabled && controlWord.dsAttached;
}
bool DriverStation::IsDisabled() const {
bool DriverStation::IsDisabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return !(controlWord.enabled && controlWord.dsAttached);
}
bool DriverStation::IsEStopped() const {
bool DriverStation::IsEStopped() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.eStop;
}
bool DriverStation::IsAutonomous() const {
bool DriverStation::IsAutonomous() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.autonomous;
}
bool DriverStation::IsAutonomousEnabled() const {
bool DriverStation::IsAutonomousEnabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.autonomous && controlWord.enabled;
}
bool DriverStation::IsOperatorControl() const {
bool DriverStation::IsOperatorControl() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return !(controlWord.autonomous || controlWord.test);
}
bool DriverStation::IsOperatorControlEnabled() const {
bool DriverStation::IsOperatorControlEnabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return !controlWord.autonomous && !controlWord.test && controlWord.enabled;
}
bool DriverStation::IsTest() const {
bool DriverStation::IsTest() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.test;
}
bool DriverStation::IsDSAttached() const {
bool DriverStation::IsDSAttached() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.dsAttached;
}
bool DriverStation::IsNewControlData() const {
std::unique_lock lock(m_waitForDataMutex);
bool DriverStation::IsNewControlData() {
auto& inst = ::GetInstance();
std::unique_lock lock(inst.waitForDataMutex);
int& lastCount = GetDSLastCount();
int currentCount = m_waitForDataCounter;
int currentCount = inst.waitForDataCounter;
if (lastCount == currentCount) {
return false;
}
@@ -412,44 +497,44 @@ bool DriverStation::IsNewControlData() const {
return true;
}
bool DriverStation::IsFMSAttached() const {
bool DriverStation::IsFMSAttached() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.fmsAttached;
}
std::string DriverStation::GetGameSpecificMessage() const {
std::string DriverStation::GetGameSpecificMessage() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return std::string(reinterpret_cast<char*>(info.gameSpecificMessage),
info.gameSpecificMessageSize);
}
std::string DriverStation::GetEventName() const {
std::string DriverStation::GetEventName() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.eventName;
}
DriverStation::MatchType DriverStation::GetMatchType() const {
DriverStation::MatchType DriverStation::GetMatchType() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return static_cast<DriverStation::MatchType>(info.matchType);
}
int DriverStation::GetMatchNumber() const {
int DriverStation::GetMatchNumber() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.matchNumber;
}
int DriverStation::GetReplayNumber() const {
int DriverStation::GetReplayNumber() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.replayNumber;
}
DriverStation::Alliance DriverStation::GetAlliance() const {
DriverStation::Alliance DriverStation::GetAlliance() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -466,7 +551,7 @@ DriverStation::Alliance DriverStation::GetAlliance() const {
}
}
int DriverStation::GetLocation() const {
int DriverStation::GetLocation() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -489,36 +574,37 @@ void DriverStation::WaitForData() {
}
bool DriverStation::WaitForData(units::second_t timeout) {
auto& inst = ::GetInstance();
auto timeoutTime = std::chrono::steady_clock::now() +
std::chrono::steady_clock::duration{timeout};
std::unique_lock lock(m_waitForDataMutex);
std::unique_lock lock(inst.waitForDataMutex);
int& lastCount = GetDSLastCount();
int currentCount = m_waitForDataCounter;
int currentCount = inst.waitForDataCounter;
if (lastCount != currentCount) {
lastCount = currentCount;
return true;
}
while (m_waitForDataCounter == currentCount) {
while (inst.waitForDataCounter == currentCount) {
if (timeout > 0_s) {
auto timedOut = m_waitForDataCond.wait_until(lock, timeoutTime);
auto timedOut = inst.waitForDataCond.wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
}
} else {
m_waitForDataCond.wait(lock);
inst.waitForDataCond.wait(lock);
}
}
lastCount = m_waitForDataCounter;
lastCount = inst.waitForDataCounter;
return true;
}
double DriverStation::GetMatchTime() const {
double DriverStation::GetMatchTime() {
int32_t status = 0;
return HAL_GetMatchTime(&status);
}
double DriverStation::GetBatteryVoltage() const {
double DriverStation::GetBatteryVoltage() {
int32_t status = 0;
double voltage = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "{}", "getVinVoltage");
@@ -526,92 +612,101 @@ double DriverStation::GetBatteryVoltage() const {
return voltage;
}
void DriverStation::WakeupWaitForData() {
std::scoped_lock waitLock(m_waitForDataMutex);
// Nofify all threads
m_waitForDataCounter++;
m_waitForDataCond.notify_all();
void DriverStation::InDisabled(bool entering) {
::GetInstance().userInDisabled = entering;
}
void DriverStation::GetData() {
void DriverStation::InAutonomous(bool entering) {
::GetInstance().userInAutonomous = entering;
}
void DriverStation::InOperatorControl(bool entering) {
::GetInstance().userInTeleop = entering;
}
void DriverStation::InTest(bool entering) {
::GetInstance().userInTest = entering;
}
void DriverStation::WakeupWaitForData() {
auto& inst = ::GetInstance();
std::scoped_lock waitLock(inst.waitForDataMutex);
// Nofify all threads
inst.waitForDataCounter++;
inst.waitForDataCond.notify_all();
}
/**
* Copy data from the DS task for the user.
*
* If no new data exists, it will just be returned, otherwise
* the data will be copied from the DS polling loop.
*/
void GetData() {
auto& inst = ::GetInstance();
{
// Compute the pressed and released buttons
HAL_JoystickButtons currentButtons;
std::unique_lock lock(m_buttonEdgeMutex);
std::unique_lock lock(inst.buttonEdgeMutex);
for (int32_t i = 0; i < kJoystickPorts; i++) {
for (int32_t i = 0; i < DriverStation::kJoystickPorts; i++) {
HAL_GetJoystickButtons(i, &currentButtons);
// If buttons weren't pressed and are now, set flags in m_buttonsPressed
m_joystickButtonsPressed[i] |=
~m_previousButtonStates[i].buttons & currentButtons.buttons;
inst.joystickButtonsPressed[i] |=
~inst.previousButtonStates[i].buttons & currentButtons.buttons;
// If buttons were pressed and aren't now, set flags in m_buttonsReleased
m_joystickButtonsReleased[i] |=
m_previousButtonStates[i].buttons & ~currentButtons.buttons;
inst.joystickButtonsReleased[i] |=
inst.previousButtonStates[i].buttons & ~currentButtons.buttons;
m_previousButtonStates[i] = currentButtons;
inst.previousButtonStates[i] = currentButtons;
}
}
WakeupWaitForData();
DriverStation::WakeupWaitForData();
SendMatchData();
}
void DriverStation::SilenceJoystickConnectionWarning(bool silence) {
m_silenceJoystickWarning = silence;
::GetInstance().silenceJoystickWarning = silence;
}
bool DriverStation::IsJoystickConnectionWarningSilenced() const {
return !IsFMSAttached() && m_silenceJoystickWarning;
bool DriverStation::IsJoystickConnectionWarningSilenced() {
return !IsFMSAttached() && ::GetInstance().silenceJoystickWarning;
}
DriverStation::DriverStation() {
HAL_Initialize(500, 0);
m_waitForDataCounter = 0;
m_matchDataSender = std::make_unique<MatchDataSender>();
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for (unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickButtonsPressed[i] = 0;
m_joystickButtonsReleased[i] = 0;
m_previousButtonStates[i].count = 0;
m_previousButtonStates[i].buttons = 0;
}
m_dsThread = std::thread(&DriverStation::Run, this);
}
void DriverStation::ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args) {
void ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args) {
auto& inst = GetInstance();
auto currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
if (currentTime > inst.nextMessageTime) {
ReportErrorV(err::Error, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
inst.nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
}
}
void DriverStation::ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args) {
if (IsFMSAttached() || !m_silenceJoystickWarning) {
void ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args) {
auto& inst = GetInstance();
if (DriverStation::IsFMSAttached() || !inst.silenceJoystickWarning) {
auto currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
if (currentTime > inst.nextMessageTime) {
ReportErrorV(warn::Warning, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
inst.nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
}
}
}
void DriverStation::Run() {
m_isRunning = true;
void Run() {
auto& inst = GetInstance();
inst.isRunning = true;
int safetyCounter = 0;
while (m_isRunning) {
while (inst.isRunning) {
HAL_WaitForDSData();
GetData();
if (IsDisabled()) {
if (DriverStation::IsDisabled()) {
safetyCounter = 0;
}
@@ -619,22 +714,22 @@ void DriverStation::Run() {
MotorSafety::CheckMotors();
safetyCounter = 0;
}
if (m_userInDisabled) {
if (inst.userInDisabled) {
HAL_ObserveUserProgramDisabled();
}
if (m_userInAutonomous) {
if (inst.userInAutonomous) {
HAL_ObserveUserProgramAutonomous();
}
if (m_userInTeleop) {
if (inst.userInTeleop) {
HAL_ObserveUserProgramTeleop();
}
if (m_userInTest) {
if (inst.userInTest) {
HAL_ObserveUserProgramTest();
}
}
}
void DriverStation::SendMatchData() {
void SendMatchData() {
int32_t status = 0;
HAL_AllianceStationID alliance = HAL_GetAllianceStation(&status);
bool isRedAlliance = false;
@@ -669,19 +764,20 @@ void DriverStation::SendMatchData() {
HAL_MatchInfo tmpDataStore;
HAL_GetMatchInfo(&tmpDataStore);
m_matchDataSender->alliance.Set(isRedAlliance);
m_matchDataSender->station.Set(stationNumber);
m_matchDataSender->eventName.Set(tmpDataStore.eventName);
m_matchDataSender->gameSpecificMessage.Set(
auto& inst = GetInstance();
inst.matchDataSender.alliance.Set(isRedAlliance);
inst.matchDataSender.station.Set(stationNumber);
inst.matchDataSender.eventName.Set(tmpDataStore.eventName);
inst.matchDataSender.gameSpecificMessage.Set(
std::string(reinterpret_cast<char*>(tmpDataStore.gameSpecificMessage),
tmpDataStore.gameSpecificMessageSize));
m_matchDataSender->matchNumber.Set(tmpDataStore.matchNumber);
m_matchDataSender->replayNumber.Set(tmpDataStore.replayNumber);
m_matchDataSender->matchType.Set(static_cast<int>(tmpDataStore.matchType));
inst.matchDataSender.matchNumber.Set(tmpDataStore.matchNumber);
inst.matchDataSender.replayNumber.Set(tmpDataStore.replayNumber);
inst.matchDataSender.matchType.Set(static_cast<int>(tmpDataStore.matchType));
HAL_ControlWord ctlWord;
HAL_GetControlWord(&ctlWord);
int32_t wordInt = 0;
std::memcpy(&wordInt, &ctlWord, sizeof(wordInt));
m_matchDataSender->controlWord.Set(wordInt);
inst.matchDataSender.controlWord.Set(wordInt);
}

2
wpilibc/src/main/native/cpp/DutyCycle.cpp
View File

@@ -49,7 +49,7 @@ void DutyCycle::InitDutyCycle() {
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
int index = GetFPGAIndex();
HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
wpi::SendableRegistry::AddLW(this, "Duty Cycle", index);
}
int DutyCycle::GetFPGAIndex() const {

4
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
View File

@@ -72,8 +72,8 @@ void DutyCycleEncoder::Init() {
m_analogTrigger->CreateOutput(AnalogTriggerType::kFallingPulse));
}
wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
wpi::SendableRegistry::AddLW(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
}
units::turn_t DutyCycleEncoder::Get() const {

10
wpilibc/src/main/native/cpp/Encoder.cpp
View File

@@ -22,9 +22,8 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
m_aSource = std::make_shared<DigitalInput>(aChannel);
m_bSource = std::make_shared<DigitalInput>(bChannel);
InitEncoder(reverseDirection, encodingType);
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_aSource.get());
registry.AddChild(this, m_bSource.get());
wpi::SendableRegistry::AddChild(this, m_aSource.get());
wpi::SendableRegistry::AddChild(this, m_bSource.get());
}
Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
@@ -181,7 +180,7 @@ int Encoder::GetSamplesToAverage() const {
void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
// Force digital input if just given an index
m_indexSource = std::make_shared<DigitalInput>(channel);
wpi::SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
wpi::SendableRegistry::AddChild(this, m_indexSource.get());
SetIndexSource(*m_indexSource.get(), type);
}
@@ -240,8 +239,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
encodingType);
wpi::SendableRegistry::GetInstance().AddLW(this, "Encoder",
m_aSource->GetChannel());
wpi::SendableRegistry::AddLW(this, "Encoder", m_aSource->GetChannel());
}
double Encoder::DecodingScaleFactor() const {

26
wpilibc/src/main/native/cpp/GenericHID.cpp
View File

@@ -11,7 +11,7 @@
using namespace frc;
GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) {
GenericHID::GenericHID(int port) {
if (port < 0 || port >= DriverStation::kJoystickPorts) {
throw FRC_MakeError(warn::BadJoystickIndex, "port {} out of range", port);
}
@@ -19,51 +19,51 @@ GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) {
}
bool GenericHID::GetRawButton(int button) const {
return m_ds->GetStickButton(m_port, button);
return DriverStation::GetStickButton(m_port, button);
}
bool GenericHID::GetRawButtonPressed(int button) {
return m_ds->GetStickButtonPressed(m_port, button);
return DriverStation::GetStickButtonPressed(m_port, button);
}
bool GenericHID::GetRawButtonReleased(int button) {
return m_ds->GetStickButtonReleased(m_port, button);
return DriverStation::GetStickButtonReleased(m_port, button);
}
double GenericHID::GetRawAxis(int axis) const {
return m_ds->GetStickAxis(m_port, axis);
return DriverStation::GetStickAxis(m_port, axis);
}
int GenericHID::GetPOV(int pov) const {
return m_ds->GetStickPOV(m_port, pov);
return DriverStation::GetStickPOV(m_port, pov);
}
int GenericHID::GetAxisCount() const {
return m_ds->GetStickAxisCount(m_port);
return DriverStation::GetStickAxisCount(m_port);
}
int GenericHID::GetPOVCount() const {
return m_ds->GetStickPOVCount(m_port);
return DriverStation::GetStickPOVCount(m_port);
}
int GenericHID::GetButtonCount() const {
return m_ds->GetStickButtonCount(m_port);
return DriverStation::GetStickButtonCount(m_port);
}
bool GenericHID::IsConnected() const {
return m_ds->IsJoystickConnected(m_port);
return DriverStation::IsJoystickConnected(m_port);
}
GenericHID::HIDType GenericHID::GetType() const {
return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
return static_cast<HIDType>(DriverStation::GetJoystickType(m_port));
}
std::string GenericHID::GetName() const {
return m_ds->GetJoystickName(m_port);
return DriverStation::GetJoystickName(m_port);
}
int GenericHID::GetAxisType(int axis) const {
return m_ds->GetJoystickAxisType(m_port, axis);
return DriverStation::GetJoystickAxisType(m_port, axis);
}
int GenericHID::GetPort() const {

10
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
View File

@@ -110,7 +110,7 @@ void IterativeRobotBase::LoopFunc() {
// Call DisabledInit() if we are now just entering disabled mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kDisabled) {
LiveWindow::GetInstance()->SetEnabled(false);
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
DisabledInit();
m_watchdog.AddEpoch("DisabledInit()");
@@ -124,7 +124,7 @@ void IterativeRobotBase::LoopFunc() {
// Call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kAutonomous) {
LiveWindow::GetInstance()->SetEnabled(false);
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
AutonomousInit();
m_watchdog.AddEpoch("AutonomousInit()");
@@ -138,7 +138,7 @@ void IterativeRobotBase::LoopFunc() {
// Call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kTeleop) {
LiveWindow::GetInstance()->SetEnabled(false);
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
TeleopInit();
m_watchdog.AddEpoch("TeleopInit()");
@@ -152,7 +152,7 @@ void IterativeRobotBase::LoopFunc() {
// Call TestInit() if we are now just entering test mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kTest) {
LiveWindow::GetInstance()->SetEnabled(true);
LiveWindow::SetEnabled(true);
Shuffleboard::EnableActuatorWidgets();
TestInit();
m_watchdog.AddEpoch("TestInit()");
@@ -169,7 +169,7 @@ void IterativeRobotBase::LoopFunc() {
SmartDashboard::UpdateValues();
m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
LiveWindow::GetInstance()->UpdateValues();
LiveWindow::UpdateValues();
m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
Shuffleboard::Update();
m_watchdog.AddEpoch("Shuffleboard::Update()");

3
wpilibc/src/main/native/cpp/MotorSafety.cpp
View File

@@ -82,8 +82,7 @@ void MotorSafety::Check() {
stopTime = m_stopTime;
}
DriverStation& ds = DriverStation::GetInstance();
if (!enabled || ds.IsDisabled() || ds.IsTest()) {
if (!enabled || DriverStation::IsDisabled() || DriverStation::IsTest()) {
return;
}

2
wpilibc/src/main/native/cpp/PWM.cpp
View File

@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
if (registerSendable) {
wpi::SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
wpi::SendableRegistry::AddLW(this, "PWM", channel);
}
}

3
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
View File

@@ -24,8 +24,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
FRC_CheckErrorStatus(status, "Module {}", module);
HAL_Report(HALUsageReporting::kResourceType_PDP, module + 1);
wpi::SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel",
module);
wpi::SendableRegistry::AddLW(this, "PowerDistributionPanel", module);
}
double PowerDistributionPanel::GetVoltage() const {

67
wpilibc/src/main/native/cpp/Preferences.cpp
View File

@@ -7,6 +7,7 @@
#include <algorithm>
#include <hal/FRCUsageReporting.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
using namespace frc;
@@ -14,42 +15,59 @@ using namespace frc;
// The Preferences table name
static constexpr std::string_view kTableName{"Preferences"};
namespace {
struct Instance {
Instance();
std::shared_ptr<nt::NetworkTable> table{
nt::NetworkTableInstance::GetDefault().GetTable(kTableName)};
NT_EntryListener listener;
};
} // namespace
static Instance& GetInstance() {
static Instance instance;
return instance;
}
Preferences* Preferences::GetInstance() {
::GetInstance();
static Preferences instance;
return &instance;
}
std::vector<std::string> Preferences::GetKeys() {
return m_table->GetKeys();
return ::GetInstance().table->GetKeys();
}
std::string Preferences::GetString(std::string_view key,
std::string_view defaultValue) {
return m_table->GetString(key, defaultValue);
return ::GetInstance().table->GetString(key, defaultValue);
}
int Preferences::GetInt(std::string_view key, int defaultValue) {
return static_cast<int>(m_table->GetNumber(key, defaultValue));
return static_cast<int>(::GetInstance().table->GetNumber(key, defaultValue));
}
double Preferences::GetDouble(std::string_view key, double defaultValue) {
return m_table->GetNumber(key, defaultValue);
return ::GetInstance().table->GetNumber(key, defaultValue);
}
float Preferences::GetFloat(std::string_view key, float defaultValue) {
return m_table->GetNumber(key, defaultValue);
return ::GetInstance().table->GetNumber(key, defaultValue);
}
bool Preferences::GetBoolean(std::string_view key, bool defaultValue) {
return m_table->GetBoolean(key, defaultValue);
return ::GetInstance().table->GetBoolean(key, defaultValue);
}
int64_t Preferences::GetLong(std::string_view key, int64_t defaultValue) {
return static_cast<int64_t>(m_table->GetNumber(key, defaultValue));
return static_cast<int64_t>(
::GetInstance().table->GetNumber(key, defaultValue));
}
void Preferences::SetString(std::string_view key, std::string_view value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetString(value);
entry.SetPersistent();
}
@@ -59,12 +77,12 @@ void Preferences::PutString(std::string_view key, std::string_view value) {
}
void Preferences::InitString(std::string_view key, std::string_view value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultString(value);
}
void Preferences::SetInt(std::string_view key, int value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDouble(value);
entry.SetPersistent();
}
@@ -74,12 +92,12 @@ void Preferences::PutInt(std::string_view key, int value) {
}
void Preferences::InitInt(std::string_view key, int value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
}
void Preferences::SetDouble(std::string_view key, double value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDouble(value);
entry.SetPersistent();
}
@@ -89,12 +107,12 @@ void Preferences::PutDouble(std::string_view key, double value) {
}
void Preferences::InitDouble(std::string_view key, double value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
}
void Preferences::SetFloat(std::string_view key, float value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDouble(value);
entry.SetPersistent();
}
@@ -104,12 +122,12 @@ void Preferences::PutFloat(std::string_view key, float value) {
}
void Preferences::InitFloat(std::string_view key, float value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
}
void Preferences::SetBoolean(std::string_view key, bool value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetBoolean(value);
entry.SetPersistent();
}
@@ -119,12 +137,12 @@ void Preferences::PutBoolean(std::string_view key, bool value) {
}
void Preferences::InitBoolean(std::string_view key, bool value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultBoolean(value);
}
void Preferences::SetLong(std::string_view key, int64_t value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDouble(value);
entry.SetPersistent();
}
@@ -134,16 +152,16 @@ void Preferences::PutLong(std::string_view key, int64_t value) {
}
void Preferences::InitLong(std::string_view key, int64_t value) {
auto entry = m_table->GetEntry(key);
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
}
bool Preferences::ContainsKey(std::string_view key) {
return m_table->ContainsKey(key);
return ::GetInstance().table->ContainsKey(key);
}
void Preferences::Remove(std::string_view key) {
m_table->Delete(key);
::GetInstance().table->Delete(key);
}
void Preferences::RemoveAll() {
@@ -154,10 +172,9 @@ void Preferences::RemoveAll() {
}
}
Preferences::Preferences()
: m_table(nt::NetworkTableInstance::GetDefault().GetTable(kTableName)) {
m_table->GetEntry(".type").SetString("RobotPreferences");
m_listener = m_table->AddEntryListener(
Instance::Instance() {
table->GetEntry(".type").SetString("RobotPreferences");
listener = table->AddEntryListener(
[=](nt::NetworkTable* table, std::string_view name,
nt::NetworkTableEntry entry, std::shared_ptr<nt::Value> value,
int flags) { entry.SetPersistent(); },

2
wpilibc/src/main/native/cpp/Relay.cpp
View File

@@ -56,7 +56,7 @@ Relay::Relay(int channel, Relay::Direction direction)
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
wpi::SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
wpi::SendableRegistry::AddLW(this, "Relay", m_channel);
}
Relay::~Relay() {

12
wpilibc/src/main/native/cpp/RobotState.cpp
View File

@@ -9,25 +9,25 @@
using namespace frc;
bool RobotState::IsDisabled() {
return DriverStation::GetInstance().IsDisabled();
return DriverStation::IsDisabled();
}
bool RobotState::IsEnabled() {
return DriverStation::GetInstance().IsEnabled();
return DriverStation::IsEnabled();
}
bool RobotState::IsEStopped() {
return DriverStation::GetInstance().IsEStopped();
return DriverStation::IsEStopped();
}
bool RobotState::IsOperatorControl() {
return DriverStation::GetInstance().IsOperatorControl();
return DriverStation::IsOperatorControl();
}
bool RobotState::IsAutonomous() {
return DriverStation::GetInstance().IsAutonomous();
return DriverStation::IsAutonomous();
}
bool RobotState::IsTest() {
return DriverStation::GetInstance().IsTest();
return DriverStation::IsTest();
}

2
wpilibc/src/main/native/cpp/Servo.cpp
View File

@@ -24,7 +24,7 @@ Servo::Servo(int channel) : PWM(channel) {
SetPeriodMultiplier(kPeriodMultiplier_4X);
HAL_Report(HALUsageReporting::kResourceType_Servo, channel + 1);
wpi::SendableRegistry::GetInstance().SetName(this, "Servo", channel);
wpi::SendableRegistry::SetName(this, "Servo", channel);
}
void Servo::Set(double value) {

4
wpilibc/src/main/native/cpp/Solenoid.cpp
View File

@@ -36,8 +36,8 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
m_module->GetModuleNumber() + 1);
wpi::SendableRegistry::GetInstance().AddLW(
this, "Solenoid", m_module->GetModuleNumber(), m_channel);
wpi::SendableRegistry::AddLW(this, "Solenoid", m_module->GetModuleNumber(),
m_channel);
}
Solenoid::~Solenoid() {}

5
wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
View File

@@ -20,12 +20,11 @@ SpeedControllerGroup::SpeedControllerGroup(
void SpeedControllerGroup::Initialize() {
for (auto& speedController : m_speedControllers) {
wpi::SendableRegistry::GetInstance().AddChild(this, &speedController.get());
wpi::SendableRegistry::AddChild(this, &speedController.get());
}
static int instances = 0;
++instances;
wpi::SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup",
instances);
wpi::SendableRegistry::Add(this, "SpeedControllerGroup", instances);
}
void SpeedControllerGroup::Set(double speed) {

8
wpilibc/src/main/native/cpp/Ultrasonic.cpp
View File

@@ -30,9 +30,8 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
m_counter(m_echoChannel) {
Initialize();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_pingChannel.get());
registry.AddChild(this, m_echoChannel.get());
wpi::SendableRegistry::AddChild(this, m_pingChannel.get());
wpi::SendableRegistry::AddChild(this, m_echoChannel.get());
}
Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel)
@@ -185,8 +184,7 @@ void Ultrasonic::Initialize() {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
wpi::SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
m_echoChannel->GetChannel());
wpi::SendableRegistry::AddLW(this, "Ultrasonic", m_echoChannel->GetChannel());
}
void Ultrasonic::UltrasonicChecker() {

2
wpilibc/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -31,7 +31,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);
wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
wpi::SendableRegistry::Add(this, "PIDController", instances);
}
void PIDController::SetPID(double Kp, double Ki, double Kd) {

7
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -26,12 +26,11 @@ using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
wpi::SendableRegistry::AddChild(this, m_leftMotor);
wpi::SendableRegistry::AddChild(this, m_rightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "DifferentialDrive", instances);
wpi::SendableRegistry::AddLW(this, "DifferentialDrive", instances);
}
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,

9
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -43,13 +43,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
registry.AddChild(this, m_backMotor);
wpi::SendableRegistry::AddChild(this, m_leftMotor);
wpi::SendableRegistry::AddChild(this, m_rightMotor);
wpi::SendableRegistry::AddChild(this, m_backMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "KilloughDrive", instances);
wpi::SendableRegistry::AddLW(this, "KilloughDrive", instances);
}
void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,

11
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -33,14 +33,13 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
m_rearLeftMotor(&rearLeftMotor),
m_frontRightMotor(&frontRightMotor),
m_rearRightMotor(&rearRightMotor) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_frontLeftMotor);
registry.AddChild(this, m_rearLeftMotor);
registry.AddChild(this, m_frontRightMotor);
registry.AddChild(this, m_rearRightMotor);
wpi::SendableRegistry::AddChild(this, m_frontLeftMotor);
wpi::SendableRegistry::AddChild(this, m_rearLeftMotor);
wpi::SendableRegistry::AddChild(this, m_frontRightMotor);
wpi::SendableRegistry::AddChild(this, m_rearRightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "MecanumDrive", instances);
wpi::SendableRegistry::AddLW(this, "MecanumDrive", instances);
}
void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,

139
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
View File

@@ -15,133 +15,152 @@
using namespace frc;
struct LiveWindow::Impl {
Impl();
namespace {
struct Component {
bool firstTime = true;
bool telemetryEnabled = true;
};
struct Component {
bool firstTime = true;
bool telemetryEnabled = true;
};
struct Instance {
Instance() {
wpi::SendableRegistry::SetLiveWindowBuilderFactory(
[] { return std::make_unique<SendableBuilderImpl>(); });
}
wpi::mutex mutex;
wpi::SendableRegistry& registry;
int dataHandle;
int dataHandle = wpi::SendableRegistry::GetDataHandle();
std::shared_ptr<nt::NetworkTable> liveWindowTable;
std::shared_ptr<nt::NetworkTable> statusTable;
nt::NetworkTableEntry enabledEntry;
std::shared_ptr<nt::NetworkTable> liveWindowTable =
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow");
std::shared_ptr<nt::NetworkTable> statusTable =
liveWindowTable->GetSubTable(".status");
nt::NetworkTableEntry enabledEntry = statusTable->GetEntry("LW Enabled");
bool startLiveWindow = false;
bool liveWindowEnabled = false;
bool telemetryEnabled = true;
std::function<void()> enabled;
std::function<void()> disabled;
std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
};
} // namespace
LiveWindow::Impl::Impl()
: registry(wpi::SendableRegistry::GetInstance()),
dataHandle(registry.GetDataHandle()),
liveWindowTable(
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
registry.SetLiveWindowBuilderFactory(
[] { return std::make_unique<SendableBuilderImpl>(); });
statusTable = liveWindowTable->GetSubTable(".status");
enabledEntry = statusTable->GetEntry("LW Enabled");
static Instance& GetInstance() {
static Instance instance;
return instance;
}
std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
wpi::Sendable* sendable) {
std::shared_ptr<Component> Instance::GetOrAdd(wpi::Sendable* sendable) {
auto data = std::static_pointer_cast<Component>(
registry.GetData(sendable, dataHandle));
wpi::SendableRegistry::GetData(sendable, dataHandle));
if (!data) {
data = std::make_shared<Component>();
registry.SetData(sendable, dataHandle, data);
wpi::SendableRegistry::SetData(sendable, dataHandle, data);
}
return data;
}
LiveWindow* LiveWindow::GetInstance() {
::GetInstance();
static LiveWindow instance;
return &instance;
}
void LiveWindow::SetEnabledCallback(std::function<void()> func) {
::GetInstance().enabled = func;
}
void LiveWindow::SetDisabledCallback(std::function<void()> func) {
::GetInstance().disabled = func;
}
void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
// Re-enable global setting in case DisableAllTelemetry() was called.
m_impl->telemetryEnabled = true;
m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
inst.telemetryEnabled = true;
inst.GetOrAdd(sendable)->telemetryEnabled = true;
}
void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
inst.GetOrAdd(sendable)->telemetryEnabled = false;
}
void LiveWindow::DisableAllTelemetry() {
std::scoped_lock lock(m_impl->mutex);
m_impl->telemetryEnabled = false;
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
inst.telemetryEnabled = false;
wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
if (!cbdata.data) {
cbdata.data = std::make_shared<Impl::Component>();
cbdata.data = std::make_shared<Component>();
}
std::static_pointer_cast<Impl::Component>(cbdata.data)->telemetryEnabled =
false;
std::static_pointer_cast<Component>(cbdata.data)->telemetryEnabled = false;
});
}
bool LiveWindow::IsEnabled() const {
std::scoped_lock lock(m_impl->mutex);
return m_impl->liveWindowEnabled;
bool LiveWindow::IsEnabled() {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
return inst.liveWindowEnabled;
}
void LiveWindow::SetEnabled(bool enabled) {
std::scoped_lock lock(m_impl->mutex);
if (m_impl->liveWindowEnabled == enabled) {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
if (inst.liveWindowEnabled == enabled) {
return;
}
m_impl->startLiveWindow = enabled;
m_impl->liveWindowEnabled = enabled;
inst.startLiveWindow = enabled;
inst.liveWindowEnabled = enabled;
// Force table generation now to make sure everything is defined
UpdateValuesUnsafe();
if (enabled) {
if (this->enabled) {
this->enabled();
if (inst.enabled) {
inst.enabled();
}
} else {
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
static_cast<SendableBuilderImpl&>(cbdata.builder).StopLiveWindowMode();
});
if (this->disabled) {
this->disabled();
wpi::SendableRegistry::ForeachLiveWindow(
inst.dataHandle, [&](auto& cbdata) {
static_cast<SendableBuilderImpl&>(cbdata.builder)
.StopLiveWindowMode();
});
if (inst.disabled) {
inst.disabled();
}
}
m_impl->enabledEntry.SetBoolean(enabled);
inst.enabledEntry.SetBoolean(enabled);
}
void LiveWindow::UpdateValues() {
std::scoped_lock lock(m_impl->mutex);
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
UpdateValuesUnsafe();
}
void LiveWindow::UpdateValuesUnsafe() {
auto& inst = ::GetInstance();
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!m_impl->liveWindowEnabled && !m_impl->telemetryEnabled) {
if (!inst.liveWindowEnabled && !inst.telemetryEnabled) {
return;
}
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
if (!cbdata.sendable || cbdata.parent) {
return;
}
if (!cbdata.data) {
cbdata.data = std::make_shared<Impl::Component>();
cbdata.data = std::make_shared<Component>();
}
auto& comp = *std::static_pointer_cast<Impl::Component>(cbdata.data);
auto& comp = *std::static_pointer_cast<Component>(cbdata.data);
if (!m_impl->liveWindowEnabled && !comp.telemetryEnabled) {
if (!inst.liveWindowEnabled && !comp.telemetryEnabled) {
return;
}
@@ -153,7 +172,7 @@ void LiveWindow::UpdateValuesUnsafe() {
if (cbdata.name.empty()) {
return;
}
auto ssTable = m_impl->liveWindowTable->GetSubTable(cbdata.subsystem);
auto ssTable = inst.liveWindowTable->GetSubTable(cbdata.subsystem);
std::shared_ptr<nt::NetworkTable> table;
// Treat name==subsystem as top level of subsystem
if (cbdata.name == cbdata.subsystem) {
@@ -169,13 +188,11 @@ void LiveWindow::UpdateValuesUnsafe() {
comp.firstTime = false;
}
if (m_impl->startLiveWindow) {
if (inst.startLiveWindow) {
static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
}
cbdata.builder.Update();
});
m_impl->startLiveWindow = false;
inst.startLiveWindow = false;
}
LiveWindow::LiveWindow() : m_impl(new Impl) {}

5
wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
View File

@@ -20,12 +20,11 @@ MotorControllerGroup::MotorControllerGroup(
void MotorControllerGroup::Initialize() {
for (auto& motorController : m_motorControllers) {
wpi::SendableRegistry::GetInstance().AddChild(this, &motorController.get());
wpi::SendableRegistry::AddChild(this, &motorController.get());
}
static int instances = 0;
++instances;
wpi::SendableRegistry::GetInstance().Add(this, "MotorControllerGroup",
instances);
wpi::SendableRegistry::Add(this, "MotorControllerGroup", instances);
}
void MotorControllerGroup::Set(double speed) {

7
wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
View File

@@ -13,9 +13,8 @@ using namespace frc;
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, &m_dio);
registry.AddChild(this, &m_pwm);
wpi::SendableRegistry::AddChild(this, &m_dio);
wpi::SendableRegistry::AddChild(this, &m_pwm);
SetExpiration(0_s);
SetSafetyEnabled(false);
@@ -24,7 +23,7 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
m_dio.EnablePWM(0.5);
HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
registry.AddLW(this, "Nidec Brushless", pwmChannel);
wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
}
void NidecBrushless::Set(double speed) {

2
wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
View File

@@ -44,7 +44,7 @@ int PWMMotorController::GetChannel() const {
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
wpi::SendableRegistry::GetInstance().AddLW(this, name, channel);
wpi::SendableRegistry::AddLW(this, name, channel);
}
void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {

2
wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
View File

@@ -21,7 +21,7 @@ std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
}
void AddToSendableRegistry(wpi::Sendable* sendable, std::string name) {
wpi::SendableRegistry::GetInstance().Add(sendable, name);
wpi::SendableRegistry::Add(sendable, name);
}
} // namespace detail

2
wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
View File

@@ -67,7 +67,7 @@ ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
}
ComplexWidget& ShuffleboardContainer::Add(wpi::Sendable& sendable) {
auto name = wpi::SendableRegistry::GetInstance().GetName(&sendable);
auto name = wpi::SendableRegistry::GetName(&sendable);
if (name.empty()) {
FRC_ReportError(err::Error, "{}", "Sendable must have a name");
}

2
wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
View File

@@ -155,7 +155,7 @@ void DriverStationSim::SetMatchTime(double matchTime) {
void DriverStationSim::NotifyNewData() {
HALSIM_NotifyDriverStationNewData();
DriverStation::GetInstance().WaitForData();
DriverStation::WaitForData();
}
void DriverStationSim::SetSendError(bool shouldSend) {

2
wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
View File

@@ -13,7 +13,7 @@ Field2d::Field2d() {
m_objects.emplace_back(
std::make_unique<FieldObject2d>("Robot", FieldObject2d::private_init{}));
m_objects[0]->SetPose(Pose2d{});
wpi::SendableRegistry::GetInstance().Add(this, "Field");
wpi::SendableRegistry::Add(this, "Field");
}
Field2d::Field2d(Field2d&& rhs) : SendableHelper(std::move(rhs)) {

2
wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
View File

@@ -11,7 +11,7 @@ using namespace frc;
std::atomic_int SendableChooserBase::s_instances{0};
SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
wpi::SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
wpi::SendableRegistry::Add(this, "SendableChooser", m_instance);
}
SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)

133
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
View File

@@ -12,95 +12,86 @@
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/smartdashboard/ListenerExecutor.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
using namespace frc;
namespace {
class Singleton {
public:
static Singleton& GetInstance();
std::shared_ptr<nt::NetworkTable> table;
struct Instance {
detail::ListenerExecutor listenerExecutor;
std::shared_ptr<nt::NetworkTable> table =
nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
wpi::StringMap<wpi::SendableRegistry::UID> tablesToData;
wpi::mutex tablesToDataMutex;
private:
Singleton() {
table = nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
}
Singleton(const Singleton&) = delete;
Singleton& operator=(const Singleton&) = delete;
};
} // namespace
Singleton& Singleton::GetInstance() {
static Singleton instance;
static Instance& GetInstance() {
HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
static Instance instance;
return instance;
}
void SmartDashboard::init() {
Singleton::GetInstance();
GetInstance();
}
bool SmartDashboard::ContainsKey(std::string_view key) {
return Singleton::GetInstance().table->ContainsKey(key);
return GetInstance().table->ContainsKey(key);
}
std::vector<std::string> SmartDashboard::GetKeys(int types) {
return Singleton::GetInstance().table->GetKeys(types);
return GetInstance().table->GetKeys(types);
}
void SmartDashboard::SetPersistent(std::string_view key) {
Singleton::GetInstance().table->GetEntry(key).SetPersistent();
GetInstance().table->GetEntry(key).SetPersistent();
}
void SmartDashboard::ClearPersistent(std::string_view key) {
Singleton::GetInstance().table->GetEntry(key).ClearPersistent();
GetInstance().table->GetEntry(key).ClearPersistent();
}
bool SmartDashboard::IsPersistent(std::string_view key) {
return Singleton::GetInstance().table->GetEntry(key).IsPersistent();
return GetInstance().table->GetEntry(key).IsPersistent();
}
void SmartDashboard::SetFlags(std::string_view key, unsigned int flags) {
Singleton::GetInstance().table->GetEntry(key).SetFlags(flags);
GetInstance().table->GetEntry(key).SetFlags(flags);
}
void SmartDashboard::ClearFlags(std::string_view key, unsigned int flags) {
Singleton::GetInstance().table->GetEntry(key).ClearFlags(flags);
GetInstance().table->GetEntry(key).ClearFlags(flags);
}
unsigned int SmartDashboard::GetFlags(std::string_view key) {
return Singleton::GetInstance().table->GetEntry(key).GetFlags();
return GetInstance().table->GetEntry(key).GetFlags();
}
void SmartDashboard::Delete(std::string_view key) {
Singleton::GetInstance().table->Delete(key);
GetInstance().table->Delete(key);
}
nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
return Singleton::GetInstance().table->GetEntry(key);
return GetInstance().table->GetEntry(key);
}
void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
if (!data) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
}
auto& inst = Singleton::GetInstance();
auto& inst = GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto& uid = inst.tablesToData[key];
auto& registry = wpi::SendableRegistry::GetInstance();
wpi::Sendable* sddata = registry.GetSendable(uid);
wpi::Sendable* sddata = wpi::SendableRegistry::GetSendable(uid);
if (sddata != data) {
uid = registry.GetUniqueId(data);
uid = wpi::SendableRegistry::GetUniqueId(data);
auto dataTable = inst.table->GetSubTable(key);
auto builder = std::make_unique<SendableBuilderImpl>();
auto builderPtr = builder.get();
builderPtr->SetTable(dataTable);
registry.Publish(uid, std::move(builder));
wpi::SendableRegistry::Publish(uid, std::move(builder));
builderPtr->StartListeners();
dataTable->GetEntry(".name").SetString(key);
}
@@ -110,163 +101,147 @@ void SmartDashboard::PutData(wpi::Sendable* value) {
if (!value) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
}
auto name = wpi::SendableRegistry::GetInstance().GetName(value);
auto name = wpi::SendableRegistry::GetName(value);
if (!name.empty()) {
PutData(name, value);
}
}
wpi::Sendable* SmartDashboard::GetData(std::string_view key) {
auto& inst = Singleton::GetInstance();
auto& inst = GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto it = inst.tablesToData.find(key);
if (it == inst.tablesToData.end()) {
throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
}
return wpi::SendableRegistry::GetInstance().GetSendable(it->getValue());
return wpi::SendableRegistry::GetSendable(it->getValue());
}
bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
return Singleton::GetInstance().table->GetEntry(keyName).SetBoolean(value);
return GetInstance().table->GetEntry(keyName).SetBoolean(value);
}
bool SmartDashboard::SetDefaultBoolean(std::string_view key,
bool defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultBoolean(
defaultValue);
return GetInstance().table->GetEntry(key).SetDefaultBoolean(defaultValue);
}
bool SmartDashboard::GetBoolean(std::string_view keyName, bool defaultValue) {
return Singleton::GetInstance().table->GetEntry(keyName).GetBoolean(
defaultValue);
return GetInstance().table->GetEntry(keyName).GetBoolean(defaultValue);
}
bool SmartDashboard::PutNumber(std::string_view keyName, double value) {
return Singleton::GetInstance().table->GetEntry(keyName).SetDouble(value);
return GetInstance().table->GetEntry(keyName).SetDouble(value);
}
bool SmartDashboard::SetDefaultNumber(std::string_view key,
double defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultDouble(
defaultValue);
return GetInstance().table->GetEntry(key).SetDefaultDouble(defaultValue);
}
double SmartDashboard::GetNumber(std::string_view keyName,
double defaultValue) {
return Singleton::GetInstance().table->GetEntry(keyName).GetDouble(
defaultValue);
return GetInstance().table->GetEntry(keyName).GetDouble(defaultValue);
}
bool SmartDashboard::PutString(std::string_view keyName,
std::string_view value) {
return Singleton::GetInstance().table->GetEntry(keyName).SetString(value);
return GetInstance().table->GetEntry(keyName).SetString(value);
}
bool SmartDashboard::SetDefaultString(std::string_view key,
std::string_view defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultString(
defaultValue);
return GetInstance().table->GetEntry(key).SetDefaultString(defaultValue);
}
std::string SmartDashboard::GetString(std::string_view keyName,
std::string_view defaultValue) {
return Singleton::GetInstance().table->GetEntry(keyName).GetString(
defaultValue);
return GetInstance().table->GetEntry(keyName).GetString(defaultValue);
}
bool SmartDashboard::PutBooleanArray(std::string_view key,
wpi::span<const int> value) {
return Singleton::GetInstance().table->GetEntry(key).SetBooleanArray(value);
return GetInstance().table->GetEntry(key).SetBooleanArray(value);
}
bool SmartDashboard::SetDefaultBooleanArray(std::string_view key,
wpi::span<const int> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultBooleanArray(
return GetInstance().table->GetEntry(key).SetDefaultBooleanArray(
defaultValue);
}
std::vector<int> SmartDashboard::GetBooleanArray(
std::string_view key, wpi::span<const int> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).GetBooleanArray(
defaultValue);
return GetInstance().table->GetEntry(key).GetBooleanArray(defaultValue);
}
bool SmartDashboard::PutNumberArray(std::string_view key,
wpi::span<const double> value) {
return Singleton::GetInstance().table->GetEntry(key).SetDoubleArray(value);
return GetInstance().table->GetEntry(key).SetDoubleArray(value);
}
bool SmartDashboard::SetDefaultNumberArray(
std::string_view key, wpi::span<const double> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultDoubleArray(
defaultValue);
return GetInstance().table->GetEntry(key).SetDefaultDoubleArray(defaultValue);
}
std::vector<double> SmartDashboard::GetNumberArray(
std::string_view key, wpi::span<const double> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).GetDoubleArray(
defaultValue);
return GetInstance().table->GetEntry(key).GetDoubleArray(defaultValue);
}
bool SmartDashboard::PutStringArray(std::string_view key,
wpi::span<const std::string> value) {
return Singleton::GetInstance().table->GetEntry(key).SetStringArray(value);
return GetInstance().table->GetEntry(key).SetStringArray(value);
}
bool SmartDashboard::SetDefaultStringArray(
std::string_view key, wpi::span<const std::string> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultStringArray(
defaultValue);
return GetInstance().table->GetEntry(key).SetDefaultStringArray(defaultValue);
}
std::vector<std::string> SmartDashboard::GetStringArray(
std::string_view key, wpi::span<const std::string> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).GetStringArray(
defaultValue);
return GetInstance().table->GetEntry(key).GetStringArray(defaultValue);
}
bool SmartDashboard::PutRaw(std::string_view key, std::string_view value) {
return Singleton::GetInstance().table->GetEntry(key).SetRaw(value);
return GetInstance().table->GetEntry(key).SetRaw(value);
}
bool SmartDashboard::SetDefaultRaw(std::string_view key,
std::string_view defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultRaw(
defaultValue);
return GetInstance().table->GetEntry(key).SetDefaultRaw(defaultValue);
}
std::string SmartDashboard::GetRaw(std::string_view key,
std::string_view defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).GetRaw(defaultValue);
return GetInstance().table->GetEntry(key).GetRaw(defaultValue);
}
bool SmartDashboard::PutValue(std::string_view keyName,
std::shared_ptr<nt::Value> value) {
return Singleton::GetInstance().table->GetEntry(keyName).SetValue(value);
return GetInstance().table->GetEntry(keyName).SetValue(value);
}
bool SmartDashboard::SetDefaultValue(std::string_view key,
std::shared_ptr<nt::Value> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultValue(
defaultValue);
return GetInstance().table->GetEntry(key).SetDefaultValue(defaultValue);
}
std::shared_ptr<nt::Value> SmartDashboard::GetValue(std::string_view keyName) {
return Singleton::GetInstance().table->GetEntry(keyName).GetValue();
return GetInstance().table->GetEntry(keyName).GetValue();
}
detail::ListenerExecutor SmartDashboard::listenerExecutor;
void SmartDashboard::PostListenerTask(std::function<void()> task) {
listenerExecutor.Execute(task);
GetInstance().listenerExecutor.Execute(task);
}
void SmartDashboard::UpdateValues() {
auto& registry = wpi::SendableRegistry::GetInstance();
auto& inst = Singleton::GetInstance();
listenerExecutor.RunListenerTasks();
auto& inst = GetInstance();
inst.listenerExecutor.RunListenerTasks();
std::scoped_lock lock(inst.tablesToDataMutex);
for (auto& i : inst.tablesToData) {
registry.Update(i.getValue());
wpi::SendableRegistry::Update(i.getValue());
}
}