Fix SmartDashboard PutData to hook setters. (#851)

* Fix SmartDashboard PutData to hook setters.

Also update all PutData values in main periodic loop (same as LiveWindow).

* Improve SmartDashboard.putData() repeat call handling.

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -14,6 +14,7 @@
 
 #include "Commands/Scheduler.h"
 #include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SmartDashboard.h"
 
 using namespace frc;
 
@@ -192,5 +193,6 @@ void IterativeRobotBase::LoopFunc() {
     TestPeriodic();
   }
   RobotPeriodic();
+  SmartDashboard::UpdateValues();
   LiveWindow::GetInstance()->UpdateValues();
 }

wpilibc/src/main/native/cpp/SmartDashboard/SendableBuilderImpl.cpp

@@ -29,16 +29,24 @@ void SendableBuilderImpl::UpdateTable() {
   if (m_updateTable) m_updateTable();
 }
 
-void SendableBuilderImpl::StartLiveWindowMode() {
-  if (m_safeState) m_safeState();
+void SendableBuilderImpl::StartListeners() {
   for (auto& property : m_properties) property.StartListener();
 }
 
-void SendableBuilderImpl::StopLiveWindowMode() {
-  if (m_safeState) m_safeState();
+void SendableBuilderImpl::StopListeners() {
   for (auto& property : m_properties) property.StopListener();
 }
 
+void SendableBuilderImpl::StartLiveWindowMode() {
+  if (m_safeState) m_safeState();
+  StartListeners();
+}
+
+void SendableBuilderImpl::StopLiveWindowMode() {
+  StopListeners();
+  if (m_safeState) m_safeState();
+}
+
 void SendableBuilderImpl::SetSmartDashboardType(const llvm::Twine& type) {
   m_table->GetEntry(".type").SetString(type);
 }

wpilibc/src/main/native/cpp/SmartDashboard/SmartDashboard.cpp

@@ -20,7 +20,11 @@
 using namespace frc;
 
 namespace {
-struct SmartDashboardData {
+class SmartDashboardData {
+ public:
+  SmartDashboardData() = default;
+  explicit SmartDashboardData(Sendable* sendable_) : sendable(sendable_) {}
+
   Sendable* sendable = nullptr;
   SendableBuilderImpl builder;
 };
@@ -157,11 +161,12 @@ void SmartDashboard::PutData(llvm::StringRef key, Sendable* data) {
   std::lock_guard<wpi::mutex> lock(inst.tablesToDataMutex);
   auto& sddata = inst.tablesToData[key];
   if (!sddata.sendable || sddata.sendable != data) {
-    sddata.sendable = data;
+    sddata = SmartDashboardData(data);
     sddata.builder.SetTable(inst.table->GetSubTable(key));
     data->InitSendable(sddata.builder);
+    sddata.builder.UpdateTable();
+    sddata.builder.StartListeners();
   }
-  sddata.builder.UpdateTable();
 }
 
 /**
@@ -541,3 +546,14 @@ std::string SmartDashboard::GetRaw(llvm::StringRef key,
                                    llvm::StringRef defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).GetRaw(defaultValue);
 }
+
+/**
+ * Puts all sendable data to the dashboard.
+ */
+void SmartDashboard::UpdateValues() {
+  auto& inst = Singleton::GetInstance();
+  std::lock_guard<wpi::mutex> lock(inst.tablesToDataMutex);
+  for (auto& i : inst.tablesToData) {
+    i.getValue().builder.UpdateTable();
+  }
+}

wpilibc/src/main/native/include/SmartDashboard/SendableBuilderImpl.h

@@ -52,12 +52,24 @@ class SendableBuilderImpl : public SendableBuilder {
   void UpdateTable();
 
   /**
-   * Start LiveWindow mode by hooking the setters for all properties.
+   * Hook setters for all properties.
+   */
+  void StartListeners();
+
+  /**
+   * Unhook setters for all properties.
+   */
+  void StopListeners();
+
+  /**
+   * Start LiveWindow mode by hooking the setters for all properties.  Also
+   * calls the SafeState function if one was provided.
    */
   void StartLiveWindowMode();
 
   /**
-   * Stop LiveWindow mode by unhooking the setters for all properties.
+   * Stop LiveWindow mode by unhooking the setters for all properties.  Also
+   * calls the SafeState function if one was provided.
    */
   void StopLiveWindowMode();
 

wpilibc/src/main/native/include/SmartDashboard/SmartDashboard.h

@@ -84,6 +84,8 @@ class SmartDashboard : public SensorBase {
                               std::shared_ptr<nt::Value> defaultValue);
   static std::shared_ptr<nt::Value> GetValue(llvm::StringRef keyName);
 
+  static void UpdateValues();
+
  private:
   virtual ~SmartDashboard() = default;
 };

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java

@@ -9,6 +9,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
  * IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase
@@ -222,6 +223,7 @@ public abstract class IterativeRobotBase extends RobotBase {
       testPeriodic();
     }
     robotPeriodic();
+    SmartDashboard.updateValues();
     LiveWindow.updateValues();
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java

@@ -88,26 +88,42 @@ public class SendableBuilderImpl implements SendableBuilder {
   }
 
   /**
-   * Start LiveWindow mode by hooking the setters for all properties.
+   * Hook setters for all properties.
    */
-  public void startLiveWindowMode() {
-    if (m_safeState != null) {
-      m_safeState.run();
-    }
+  public void startListeners() {
     for (Property property : m_properties) {
       property.startListener();
     }
   }
 
   /**
-   * Stop LiveWindow mode by unhooking the setters for all properties.
+   * Unhook setters for all properties.
    */
-  public void stopLiveWindowMode() {
+  public void stopListeners() {
+    for (Property property : m_properties) {
+      property.stopListener();
+    }
+  }
+
+  /**
+   * Start LiveWindow mode by hooking the setters for all properties.  Also
+   * calls the safeState function if one was provided.
+   */
+  public void startLiveWindowMode() {
     if (m_safeState != null) {
       m_safeState.run();
     }
-    for (Property property : m_properties) {
-      property.stopListener();
+    startListeners();
+  }
+
+  /**
+   * Stop LiveWindow mode by unhooking the setters for all properties.  Also
+   * calls the safeState function if one was provided.
+   */
+  public void stopLiveWindowMode() {
+    stopListeners();
+    if (m_safeState != null) {
+      m_safeState.run();
     }
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java

@@ -33,7 +33,11 @@ public class SmartDashboard {
       NetworkTableInstance.getDefault().getTable("SmartDashboard");
 
   private static class Data {
-    Sendable m_sendable;
+    Data(Sendable sendable) {
+      m_sendable = sendable;
+    }
+
+    final Sendable m_sendable;
     final SendableBuilderImpl m_builder = new SendableBuilderImpl();
   }
 
@@ -57,16 +61,17 @@ public class SmartDashboard {
    */
   public static synchronized void putData(String key, Sendable data) {
     Data sddata = tablesToData.get(key);
-    if (sddata == null) {
-      sddata = new Data();
+    if (sddata == null || sddata.m_sendable != data) {
+      if (sddata != null) {
+        sddata.m_builder.stopListeners();
+      }
+      sddata = new Data(data);
       tablesToData.put(key, sddata);
-    }
-    if (sddata.m_sendable == null || sddata.m_sendable != data) {
-      sddata.m_sendable = data;
       sddata.m_builder.setTable(table.getSubTable(key));
       data.initSendable(sddata.m_builder);
+      sddata.m_builder.updateTable();
+      sddata.m_builder.startListeners();
     }
-    sddata.m_builder.updateTable();
   }
 
   /**
@@ -506,4 +511,13 @@ public class SmartDashboard {
   public static byte[] getRaw(String key, byte[] defaultValue) {
     return getEntry(key).getRaw(defaultValue);
   }
+
+  /**
+   * Puts all sendable data to the dashboard.
+   */
+  public static synchronized void updateValues() {
+    for (Data data : tablesToData.values()) {
+      data.m_builder.updateTable();
+    }
+  }
 }