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();
+  }
+}