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Simplify Sendable interface (#1864)

Browse Source 
This removes the name and subsystem from individual objects, and instead
puts this data into a new singleton class, SendableRegistry.  Much of
LiveWindow has been refactored into SendableRegistry.

In C++, a new CRTP helper class, SendableHelper, has been added to provide
move and destruction functionality.

Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added
to Command and Subsystem (both old and new), and also to SendableHelper to
prevent code breakage.

This deprecates SendableBase in preparation for future removal.
This commit is contained in:
Peter Johnson
2019-09-14 15:22:54 -05:00
committed by GitHub
parent 1d8c4d016f
commit 471f375a38
216 changed files with 2448 additions and 1433 deletions
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6
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -22,7 +23,8 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_I2C, 0);
SetName("ADXL345_I2C", port);
SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
}
void ADXL345_I2C::SetRange(Range range) {

5
wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -32,7 +33,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_SPI);
SetName("ADXL345_SPI", port);
SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
}
void ADXL345_SPI::SetRange(Range range) {

5
wpilibc/src/main/native/cpp/ADXL362.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include "frc/DriverStation.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -62,7 +63,7 @@ ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
HAL_Report(HALUsageReporting::kResourceType_ADXL362, port);
SetName("ADXL362", port);
SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
}
void ADXL362::SetRange(Range range) {

4
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -11,6 +11,7 @@
#include "frc/DriverStation.h"
#include "frc/Timer.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -49,7 +50,8 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
Calibrate();
HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port);
SetName("ADXRS450_Gyro", port);
SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
}
static bool CalcParity(int v) {

9
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,12 +11,13 @@
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogAccelerometer::AnalogAccelerometer(int channel)
: AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
AddChild(m_analogInput);
SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
}
AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
@@ -58,5 +59,7 @@ void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
void AnalogAccelerometer::InitAccelerometer() {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
m_analogInput->GetChannel());
SetName("Accelerometer", m_analogInput->GetChannel());
SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
m_analogInput->GetChannel());
}

9
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -17,12 +17,13 @@
#include "frc/AnalogInput.h"
#include "frc/Timer.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogGyro::AnalogGyro(int channel)
: AnalogGyro(std::make_shared<AnalogInput>(channel)) {
AddChild(m_analog);
SendableRegistry::GetInstance().AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(AnalogInput* channel)
@@ -41,7 +42,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
AnalogGyro::AnalogGyro(int channel, int center, double offset)
: AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
AddChild(m_analog);
SendableRegistry::GetInstance().AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
@@ -148,7 +149,9 @@ void AnalogGyro::InitGyro() {
}
HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
SetName("AnalogGyro", m_analog->GetChannel());
SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
m_analog->GetChannel());
}
void AnalogGyro::Calibrate() {

4
wpilibc/src/main/native/cpp/AnalogInput.cpp
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@@ -18,6 +18,7 @@
#include "frc/Timer.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -42,7 +43,8 @@ AnalogInput::AnalogInput(int channel) {
}
HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel);
SetName("AnalogInput", channel);
SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
}
AnalogInput::~AnalogInput() { HAL_FreeAnalogInputPort(m_port); }

3
wpilibc/src/main/native/cpp/AnalogOutput.cpp
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@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -42,7 +43,7 @@ AnalogOutput::AnalogOutput(int channel) {
}
HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
SetName("AnalogOutput", m_channel);
SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
}
AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }

21
wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,26 +9,29 @@
#include "frc/RobotController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
double offset)
: m_analog_input(std::make_shared<AnalogInput>(channel)),
m_fullRange(fullRange),
m_offset(offset) {
AddChild(m_analog_input);
: AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
offset) {
SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
}
AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
double offset)
: m_analog_input(input, NullDeleter<AnalogInput>()),
m_fullRange(fullRange),
m_offset(offset) {}
: AnalogPotentiometer(
std::shared_ptr<AnalogInput>(input, NullDeleter<AnalogInput>()),
fullRange, offset) {}
AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
double fullRange, double offset)
: m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {}
: m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {
SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
m_analog_input->GetChannel());
}
double AnalogPotentiometer::Get() const {
return (m_analog_input->GetVoltage() / RobotController::GetVoltage5V()) *

10
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
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@@ -13,13 +13,14 @@
#include "frc/AnalogInput.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogTrigger::AnalogTrigger(int channel)
: AnalogTrigger(new AnalogInput(channel)) {
m_ownsAnalog = true;
AddChild(m_analogInput);
SendableRegistry::GetInstance().AddChild(this, m_analogInput);
}
AnalogTrigger::AnalogTrigger(AnalogInput* input) {
@@ -36,7 +37,8 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
m_index = index;
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel);
SetName("AnalogTrigger", input->GetChannel());
SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger",
input->GetChannel());
}
AnalogTrigger::~AnalogTrigger() {
@@ -50,7 +52,7 @@ AnalogTrigger::~AnalogTrigger() {
AnalogTrigger::AnalogTrigger(AnalogTrigger&& rhs)
: ErrorBase(std::move(rhs)),
SendableBase(std::move(rhs)),
SendableHelper(std::move(rhs)),
m_index(std::move(rhs.m_index)),
m_trigger(std::move(rhs.m_trigger)) {
std::swap(m_analogInput, rhs.m_analogInput);
@@ -59,7 +61,7 @@ AnalogTrigger::AnalogTrigger(AnalogTrigger&& rhs)
AnalogTrigger& AnalogTrigger::operator=(AnalogTrigger&& rhs) {
ErrorBase::operator=(std::move(rhs));
SendableBase::operator=(std::move(rhs));
SendableHelper::operator=(std::move(rhs));
m_index = std::move(rhs.m_index);
m_trigger = std::move(rhs.m_trigger);

5
wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -20,7 +21,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
"Built-in accelerometer");
SetName("BuiltInAccel", 0);
SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
}
void BuiltInAccelerometer::SetRange(Range range) {

5
wpilibc/src/main/native/cpp/Compressor.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,6 +14,7 @@
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -28,7 +29,7 @@ Compressor::Compressor(int pcmID) : m_module(pcmID) {
SetClosedLoopControl(true);
HAL_Report(HALUsageReporting::kResourceType_Compressor, pcmID);
SetName("Compressor", pcmID);
SendableRegistry::GetInstance().AddLW(this, "Compressor", pcmID);
}
void Compressor::Start() {

7
wpilibc/src/main/native/cpp/Counter.cpp
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@@ -15,6 +15,7 @@
#include "frc/DigitalInput.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -26,7 +27,7 @@ Counter::Counter(Mode mode) {
SetMaxPeriod(.5);
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index, mode);
SetName("Counter", m_index);
SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
}
Counter::Counter(int channel) : Counter(kTwoPulse) {
@@ -95,7 +96,7 @@ Counter::~Counter() {
void Counter::SetUpSource(int channel) {
if (StatusIsFatal()) return;
SetUpSource(std::make_shared<DigitalInput>(channel));
AddChild(m_upSource);
SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
}
void Counter::SetUpSource(AnalogTrigger* analogTrigger,
@@ -159,7 +160,7 @@ void Counter::ClearUpSource() {
void Counter::SetDownSource(int channel) {
if (StatusIsFatal()) return;
SetDownSource(std::make_shared<DigitalInput>(channel));
AddChild(m_downSource);
SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
}
void Counter::SetDownSource(AnalogTrigger* analogTrigger,

6
wpilibc/src/main/native/cpp/DMC60.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
DMC60::DMC60(int channel) : PWMSpeedController(channel) {
@@ -32,5 +34,5 @@ DMC60::DMC60(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel());
SetName("DMC60", GetChannel());
SendableRegistry::GetInstance().SetName(this, "DMC60", GetChannel());
}

8
wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
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@@ -20,6 +20,7 @@
#include "frc/SensorUtil.h"
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -38,7 +39,8 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
m_channelIndex);
SetName("DigitalGlitchFilter", m_channelIndex);
SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
m_channelIndex);
}
DigitalGlitchFilter::~DigitalGlitchFilter() {
@@ -49,13 +51,13 @@ DigitalGlitchFilter::~DigitalGlitchFilter() {
}
DigitalGlitchFilter::DigitalGlitchFilter(DigitalGlitchFilter&& rhs)
: ErrorBase(std::move(rhs)), SendableBase(std::move(rhs)) {
: ErrorBase(std::move(rhs)), SendableHelper(std::move(rhs)) {
std::swap(m_channelIndex, rhs.m_channelIndex);
}
DigitalGlitchFilter& DigitalGlitchFilter::operator=(DigitalGlitchFilter&& rhs) {
ErrorBase::operator=(std::move(rhs));
SendableBase::operator=(std::move(rhs));
SendableHelper::operator=(std::move(rhs));
std::swap(m_channelIndex, rhs.m_channelIndex);

3
wpilibc/src/main/native/cpp/DigitalInput.cpp
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@@ -17,6 +17,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -40,7 +41,7 @@ DigitalInput::DigitalInput(int channel) {
}
HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
SetName("DigitalInput", channel);
SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
}
DigitalInput::~DigitalInput() {

3
wpilibc/src/main/native/cpp/DigitalOutput.cpp
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@@ -17,6 +17,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -41,7 +42,7 @@ DigitalOutput::DigitalOutput(int channel) {
}
HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel);
SetName("DigitalOutput", channel);
SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
}
DigitalOutput::~DigitalOutput() {

5
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -75,7 +76,9 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
m_moduleNumber);
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
m_moduleNumber);
SetName("DoubleSolenoid", m_moduleNumber, m_forwardChannel);
SendableRegistry::GetInstance().AddLW(this, "DoubleSolenoid", m_moduleNumber,
m_forwardChannel);
}
DoubleSolenoid::~DoubleSolenoid() {

11
wpilibc/src/main/native/cpp/Encoder.cpp
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@@ -16,6 +16,7 @@
#include "frc/DigitalInput.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -24,8 +25,9 @@ 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);
AddChild(m_aSource);
AddChild(m_bSource);
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, m_aSource.get());
registry.AddChild(this, m_bSource.get());
}
Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
@@ -201,7 +203,7 @@ double Encoder::PIDGet() {
void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
// Force digital input if just given an index
m_indexSource = std::make_shared<DigitalInput>(channel);
AddChild(m_indexSource);
SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
SetIndexSource(*m_indexSource.get(), type);
}
@@ -250,7 +252,8 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
encodingType);
SetName("Encoder", m_aSource->GetChannel());
SendableRegistry::GetInstance().AddLW(this, "Encoder",
m_aSource->GetChannel());
}
double Encoder::DecodingScaleFactor() const {

11
wpilibc/src/main/native/cpp/GearTooth.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
#include "frc/GearTooth.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -15,20 +16,22 @@ constexpr double GearTooth::kGearToothThreshold;
GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
EnableDirectionSensing(directionSensitive);
SetName("GearTooth", channel);
SendableRegistry::GetInstance().SetName(this, "GearTooth", channel);
}
GearTooth::GearTooth(DigitalSource* source, bool directionSensitive)
: Counter(source) {
EnableDirectionSensing(directionSensitive);
SetName("GearTooth", source->GetChannel());
SendableRegistry::GetInstance().SetName(this, "GearTooth",
source->GetChannel());
}
GearTooth::GearTooth(std::shared_ptr<DigitalSource> source,
bool directionSensitive)
: Counter(source) {
EnableDirectionSensing(directionSensitive);
SetName("GearTooth", source->GetChannel());
SendableRegistry::GetInstance().SetName(this, "GearTooth",
source->GetChannel());
}
void GearTooth::EnableDirectionSensing(bool directionSensitive) {

6
wpilibc/src/main/native/cpp/Jaguar.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
@@ -26,5 +28,5 @@ Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel());
SetName("Jaguar", GetChannel());
SendableRegistry::GetInstance().SetName(this, "Jaguar", GetChannel());
}

10
wpilibc/src/main/native/cpp/NidecBrushless.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,13 +10,15 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
AddChild(&m_dio);
AddChild(&m_pwm);
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_dio);
registry.AddChild(this, &m_pwm);
SetExpiration(0.0);
SetSafetyEnabled(false);
@@ -25,7 +27,7 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
m_dio.EnablePWM(0.5);
HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
SetName("Nidec Brushless", pwmChannel);
registry.AddLW(this, "Nidec Brushless", pwmChannel);
}
void NidecBrushless::Set(double speed) {

6
wpilibc/src/main/native/cpp/PIDBase.cpp
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@@ -14,6 +14,7 @@
#include "frc/PIDOutput.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -27,8 +28,7 @@ PIDBase::PIDBase(double Kp, double Ki, double Kd, PIDSource& source,
: PIDBase(Kp, Ki, Kd, 0.0, source, output) {}
PIDBase::PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
PIDOutput& output)
: SendableBase(false) {
PIDOutput& output) {
m_P = Kp;
m_I = Ki;
m_D = Kd;
@@ -44,7 +44,7 @@ PIDBase::PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
SetName("PIDController", instances);
SendableRegistry::GetInstance().Add(this, "PIDController", instances);
}
double PIDBase::Get() const {

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

@@ -17,6 +17,7 @@
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -46,7 +47,7 @@ PWM::PWM(int channel) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
SetName("PWM", channel);
SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
SetSafetyEnabled(false);
}

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

@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
@@ -26,5 +28,5 @@ PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel());
SetName("PWMSparkMax", GetChannel());
SendableRegistry::GetInstance().SetName(this, "PWMSparkMax", GetChannel());
}

6
wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
@@ -30,5 +32,5 @@ PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
SetName("PWMTalonSRX", GetChannel());
SendableRegistry::GetInstance().SetName(this, "PWMTalonSRX", GetChannel());
}

6
wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) {
@@ -30,5 +32,5 @@ PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel());
SetName("PWMVictorSPX", GetChannel());
SendableRegistry::GetInstance().SetName(this, "PWMVictorSPX", GetChannel());
}

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

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -34,7 +35,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) {
}
HAL_Report(HALUsageReporting::kResourceType_PDP, module);
SetName("PowerDistributionPanel", module);
SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel", module);
}
double PowerDistributionPanel::GetVoltage() const {

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

@@ -17,6 +17,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -76,7 +77,7 @@ Relay::Relay(int channel, Relay::Direction direction)
}
}
SetName("Relay", m_channel);
SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
}
Relay::~Relay() {

6
wpilibc/src/main/native/cpp/SD540.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
SD540::SD540(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@ SD540::SD540(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
SetName("SD540", GetChannel());
SendableRegistry::GetInstance().SetName(this, "SD540", GetChannel());
}

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

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -27,7 +28,7 @@ Servo::Servo(int channel) : PWM(channel) {
SetPeriodMultiplier(kPeriodMultiplier_4X);
HAL_Report(HALUsageReporting::kResourceType_Servo, channel);
SetName("Servo", channel);
SendableRegistry::GetInstance().SetName(this, "Servo", channel);
}
void Servo::Set(double value) { SetPosition(value); }

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

@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -47,7 +48,8 @@ Solenoid::Solenoid(int moduleNumber, int channel)
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel,
m_moduleNumber);
SetName("Solenoid", m_moduleNumber, m_channel);
SendableRegistry::GetInstance().AddLW(this, "Solenoid", m_moduleNumber,
m_channel);
}
Solenoid::~Solenoid() { HAL_FreeSolenoidPort(m_solenoidHandle); }

6
wpilibc/src/main/native/cpp/Spark.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Spark::Spark(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@ Spark::Spark(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
SetName("Spark", GetChannel());
SendableRegistry::GetInstance().SetName(this, "Spark", GetChannel());
}

6
wpilibc/src/main/native/cpp/Talon.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Talon::Talon(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@ Talon::Talon(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
SetName("Talon", GetChannel());
SendableRegistry::GetInstance().SetName(this, "Talon", GetChannel());
}

11
wpilibc/src/main/native/cpp/Ultrasonic.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -31,8 +32,9 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
m_counter(m_echoChannel) {
m_units = units;
Initialize();
AddChild(m_pingChannel);
AddChild(m_echoChannel);
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, m_pingChannel.get());
registry.AddChild(this, m_echoChannel.get());
}
Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
@@ -189,7 +191,8 @@ void Ultrasonic::Initialize() {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
SetName("Ultrasonic", m_echoChannel->GetChannel());
SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
m_echoChannel->GetChannel());
}
void Ultrasonic::UltrasonicChecker() {

6
wpilibc/src/main/native/cpp/Victor.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Victor::Victor(int channel) : PWMSpeedController(channel) {
@@ -32,5 +34,5 @@ Victor::Victor(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel());
SetName("Victor", GetChannel());
SendableRegistry::GetInstance().SetName(this, "Victor", GetChannel());
}

6
wpilibc/src/main/native/cpp/VictorSP.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@ VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
SetName("VictorSP", GetChannel());
SendableRegistry::GetInstance().SetName(this, "VictorSP", GetChannel());
}

30
wpilibc/src/main/native/cpp/commands/Command.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -31,7 +32,7 @@ Command::Command(Subsystem& subsystem) : Command("", -1.0) {
Requires(&subsystem);
}
Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
Command::Command(const wpi::Twine& name, double timeout) {
// We use -1.0 to indicate no timeout.
if (timeout < 0.0 && timeout != -1.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
@@ -41,9 +42,10 @@ Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
// If name contains an empty string
if (name.isTriviallyEmpty() ||
(name.isSingleStringRef() && name.getSingleStringRef().empty())) {
SetName("Command_" + wpi::Twine(typeid(*this).name()));
SendableRegistry::GetInstance().Add(
this, "Command_" + wpi::Twine(typeid(*this).name()));
} else {
SetName(name);
SendableRegistry::GetInstance().Add(this, name);
}
}
@@ -228,9 +230,27 @@ void Command::StartRunning() {
void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); }
std::string Command::GetName() const {
return SendableRegistry::GetInstance().GetName(this);
}
void Command::SetName(const wpi::Twine& name) {
SendableRegistry::GetInstance().SetName(this, name);
}
std::string Command::GetSubsystem() const {
return SendableRegistry::GetInstance().GetSubsystem(this);
}
void Command::SetSubsystem(const wpi::Twine& name) {
SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void Command::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
builder.AddStringProperty(".name", [=]() { return GetName(); }, nullptr);
builder.AddStringProperty(
".name", [=]() { return SendableRegistry::GetInstance().GetName(this); },
nullptr);
builder.AddBooleanProperty("running", [=]() { return IsRunning(); },
[=](bool value) {
if (value) {

6
wpilibc/src/main/native/cpp/commands/Scheduler.cpp
View File

@@ -21,6 +21,7 @@
#include "frc/commands/Command.h"
#include "frc/commands/Subsystem.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -182,8 +183,9 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
if (m_impl->runningCommandsChanged) {
m_impl->commandsBuf.resize(0);
m_impl->idsBuf.resize(0);
auto& registry = SendableRegistry::GetInstance();
for (const auto& command : m_impl->commands) {
m_impl->commandsBuf.emplace_back(command->GetName());
m_impl->commandsBuf.emplace_back(registry.GetName(command));
m_impl->idsBuf.emplace_back(command->GetID());
}
nt::NetworkTableEntry(namesEntry).SetStringArray(m_impl->commandsBuf);
@@ -195,7 +197,7 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
SetName("Scheduler");
SendableRegistry::GetInstance().AddLW(this, "Scheduler");
}
Scheduler::~Scheduler() {}

36
wpilibc/src/main/native/cpp/commands/Subsystem.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,11 +12,12 @@
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Subsystem::Subsystem(const wpi::Twine& name) {
SetName(name, name);
SendableRegistry::GetInstance().AddLW(this, name, name);
Scheduler::GetInstance()->RegisterSubsystem(this);
}
@@ -46,7 +47,7 @@ Command* Subsystem::GetDefaultCommand() {
wpi::StringRef Subsystem::GetDefaultCommandName() {
Command* defaultCommand = GetDefaultCommand();
if (defaultCommand) {
return defaultCommand->GetName();
return SendableRegistry::GetInstance().GetName(defaultCommand);
} else {
return wpi::StringRef();
}
@@ -62,7 +63,7 @@ Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }
wpi::StringRef Subsystem::GetCurrentCommandName() const {
Command* currentCommand = GetCurrentCommand();
if (currentCommand) {
return currentCommand->GetName();
return SendableRegistry::GetInstance().GetName(currentCommand);
} else {
return wpi::StringRef();
}
@@ -72,6 +73,22 @@ void Subsystem::Periodic() {}
void Subsystem::InitDefaultCommand() {}
std::string Subsystem::GetName() const {
return SendableRegistry::GetInstance().GetName(this);
}
void Subsystem::SetName(const wpi::Twine& name) {
SendableRegistry::GetInstance().SetName(this, name);
}
std::string Subsystem::GetSubsystem() const {
return SendableRegistry::GetInstance().GetSubsystem(this);
}
void Subsystem::SetSubsystem(const wpi::Twine& name) {
SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void Subsystem::AddChild(const wpi::Twine& name,
std::shared_ptr<Sendable> child) {
AddChild(name, *child);
@@ -82,8 +99,9 @@ void Subsystem::AddChild(const wpi::Twine& name, Sendable* child) {
}
void Subsystem::AddChild(const wpi::Twine& name, Sendable& child) {
child.SetName(GetSubsystem(), name);
LiveWindow::GetInstance()->Add(&child);
auto& registry = SendableRegistry::GetInstance();
registry.AddLW(&child, registry.GetSubsystem(this), name);
registry.AddChild(this, &child);
}
void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
@@ -91,8 +109,10 @@ void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
void Subsystem::AddChild(Sendable* child) { AddChild(*child); }
void Subsystem::AddChild(Sendable& child) {
child.SetSubsystem(GetSubsystem());
LiveWindow::GetInstance()->Add(&child);
auto& registry = SendableRegistry::GetInstance();
registry.SetSubsystem(&child, registry.GetSubsystem(this));
registry.EnableLiveWindow(&child);
registry.AddChild(this, &child);
}
void Subsystem::ConfirmCommand() {

5
wpilibc/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -13,16 +13,17 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc2;
PIDController::PIDController(double Kp, double Ki, double Kd,
units::second_t period)
: frc::SendableBase(false), m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
: m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
SetName("PIDController", instances);
frc::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
}
void PIDController::SetP(double Kp) { m_Kp = Kp; }

8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -14,17 +14,19 @@
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
AddChild(&m_leftMotor);
AddChild(&m_rightMotor);
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_leftMotor);
registry.AddChild(this, &m_rightMotor);
static int instances = 0;
++instances;
SetName("DifferentialDrive", instances);
registry.AddLW(this, "DifferentialDrive", instances);
}
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,

10
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -15,6 +15,7 @@
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -35,12 +36,13 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
std::sin(rightMotorAngle * (wpi::math::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
AddChild(&m_leftMotor);
AddChild(&m_rightMotor);
AddChild(&m_backMotor);
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_leftMotor);
registry.AddChild(this, &m_rightMotor);
registry.AddChild(this, &m_backMotor);
static int instances = 0;
++instances;
SetName("KilloughDrive", instances);
registry.AddLW(this, "KilloughDrive", instances);
}
void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,

12
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -16,6 +16,7 @@
#include "frc/SpeedController.h"
#include "frc/drive/Vector2d.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -27,13 +28,14 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
m_rearLeftMotor(rearLeftMotor),
m_frontRightMotor(frontRightMotor),
m_rearRightMotor(rearRightMotor) {
AddChild(&m_frontLeftMotor);
AddChild(&m_rearLeftMotor);
AddChild(&m_frontRightMotor);
AddChild(&m_rearRightMotor);
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_frontLeftMotor);
registry.AddChild(this, &m_rearLeftMotor);
registry.AddChild(this, &m_frontRightMotor);
registry.AddChild(this, &m_rearRightMotor);
static int instances = 0;
++instances;
SetName("MecanumDrive", instances);
registry.AddLW(this, "MecanumDrive", instances);
}
void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,

8
wpilibc/src/main/native/cpp/frc2/command/Command.cpp
View File

@@ -24,6 +24,14 @@ using namespace frc2;
Command::~Command() { CommandScheduler::GetInstance().Cancel(this); }
Command::Command(const Command& rhs) : ErrorBase(rhs) {}
Command& Command::operator=(const Command& rhs) {
ErrorBase::operator=(rhs);
m_isGrouped = false;
return *this;
}
void Command::Initialize() {}
void Command::Execute() {}
void Command::End(bool interrupted) {}

24
wpilibc/src/main/native/cpp/frc2/command/CommandBase.cpp
View File

@@ -8,20 +8,14 @@
#include "frc2/command/CommandBase.h"
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <frc2/command/CommandScheduler.h>
#include <frc2/command/SetUtilities.h>
using namespace frc2;
CommandBase::CommandBase() {
m_name = Command::GetName();
m_subsystem = "Unknown";
}
CommandBase::CommandBase(const CommandBase& other) : Sendable{}, Command{} {
m_name = other.m_name;
m_subsystem = other.m_subsystem;
m_requirements = other.m_requirements;
frc::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
}
void CommandBase::AddRequirements(
@@ -37,14 +31,20 @@ wpi::SmallSet<Subsystem*, 4> CommandBase::GetRequirements() const {
return m_requirements;
}
void CommandBase::SetName(const wpi::Twine& name) { m_name = name.str(); }
void CommandBase::SetName(const wpi::Twine& name) {
frc::SendableRegistry::GetInstance().SetName(this, name);
}
std::string CommandBase::GetName() const { return m_name; }
std::string CommandBase::GetName() const {
return frc::SendableRegistry::GetInstance().GetName(this);
}
std::string CommandBase::GetSubsystem() const { return m_subsystem; }
std::string CommandBase::GetSubsystem() const {
return frc::SendableRegistry::GetInstance().GetSubsystem(this);
}
void CommandBase::SetSubsystem(const wpi::Twine& subsystem) {
m_subsystem = subsystem.str();
frc::SendableRegistry::GetInstance().SetSubsystem(this, subsystem);
}
void CommandBase::InitSendable(frc::SendableBuilder& builder) {

5
wpilibc/src/main/native/cpp/frc2/command/CommandScheduler.cpp
View File

@@ -11,6 +11,7 @@
#include <frc/WPIErrors.h>
#include <frc/commands/Scheduler.h>
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <frc2/command/CommandGroupBase.h>
#include <frc2/command/Subsystem.h>
@@ -22,7 +23,9 @@ static bool ContainsKey(const TMap& map, TKey keyToCheck) {
return map.find(keyToCheck) != map.end();
}
CommandScheduler::CommandScheduler() { SetName("Scheduler"); }
CommandScheduler::CommandScheduler() {
frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
}
CommandScheduler& CommandScheduler::GetInstance() {
static CommandScheduler scheduler;

25
wpilibc/src/main/native/cpp/frc2/command/SubsystemBase.cpp
View File

@@ -7,15 +7,15 @@
#include "frc2/command/SubsystemBase.h"
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandScheduler.h>
using namespace frc2;
SubsystemBase::SubsystemBase() {
m_name = GetTypeName(*this);
frc::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
CommandScheduler::GetInstance().RegisterSubsystem({this});
}
@@ -43,15 +43,24 @@ void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
nullptr);
}
std::string SubsystemBase::GetName() const { return m_name; }
std::string SubsystemBase::GetName() const {
return frc::SendableRegistry::GetInstance().GetName(this);
}
void SubsystemBase::SetName(const wpi::Twine& name) { m_name = name.str(); }
void SubsystemBase::SetName(const wpi::Twine& name) {
frc::SendableRegistry::GetInstance().SetName(this, name);
}
std::string SubsystemBase::GetSubsystem() const { return GetName(); }
std::string SubsystemBase::GetSubsystem() const {
return frc::SendableRegistry::GetInstance().GetSubsystem(this);
}
void SubsystemBase::SetSubsystem(const wpi::Twine& name) { SetName(name); }
void SubsystemBase::SetSubsystem(const wpi::Twine& name) {
frc::SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void SubsystemBase::AddChild(std::string name, frc::Sendable* child) {
child->SetName(name);
frc::LiveWindow::GetInstance()->Add(child);
auto& registry = frc::SendableRegistry::GetInstance();
registry.AddLW(child, GetSubsystem(), name);
registry.AddChild(this, child);
}

2
wpilibc/src/main/native/cpp/frc2/command/WaitCommand.cpp
View File

@@ -11,7 +11,7 @@ using namespace frc2;
WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
auto durationStr = std::to_string(duration.to<double>());
SetName(wpi::Twine(m_name) + ": " + wpi::Twine(durationStr) + " seconds");
SetName(wpi::Twine(GetName()) + ": " + wpi::Twine(durationStr) + " seconds");
}
void WaitCommand::Initialize() {

141
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
View File

@@ -7,18 +7,14 @@
#include "frc/livewindow/LiveWindow.h"
#include <algorithm>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/DenseMap.h>
#include <wpi/SmallString.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include "frc/commands/Scheduler.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -28,8 +24,6 @@ struct LiveWindow::Impl {
Impl();
struct Component {
std::shared_ptr<Sendable> sendable;
Sendable* parent = nullptr;
SendableBuilderImpl builder;
bool firstTime = true;
bool telemetryEnabled = true;
@@ -37,7 +31,8 @@ struct LiveWindow::Impl {
wpi::mutex mutex;
wpi::DenseMap<void*, Component> components;
SendableRegistry& registry;
int dataHandle;
std::shared_ptr<nt::NetworkTable> liveWindowTable;
std::shared_ptr<nt::NetworkTable> statusTable;
@@ -46,64 +41,57 @@ struct LiveWindow::Impl {
bool startLiveWindow = false;
bool liveWindowEnabled = false;
bool telemetryEnabled = true;
std::shared_ptr<Component> GetOrAdd(Sendable* sendable);
};
LiveWindow::Impl::Impl()
: liveWindowTable(
: registry(SendableRegistry::GetInstance()),
dataHandle(registry.GetDataHandle()),
liveWindowTable(
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
statusTable = liveWindowTable->GetSubTable(".status");
enabledEntry = statusTable->GetEntry("LW Enabled");
}
std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
Sendable* sendable) {
auto data = std::static_pointer_cast<Component>(
registry.GetData(sendable, dataHandle));
if (!data) {
data = std::make_shared<Component>();
registry.SetData(sendable, dataHandle, data);
}
return data;
}
LiveWindow* LiveWindow::GetInstance() {
static LiveWindow instance;
return &instance;
}
void LiveWindow::Add(std::shared_ptr<Sendable> sendable) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->components[sendable.get()];
comp.sendable = sendable;
}
void LiveWindow::Add(Sendable* sendable) {
Add(std::shared_ptr<Sendable>(sendable, NullDeleter<Sendable>()));
}
void LiveWindow::AddChild(Sendable* parent, std::shared_ptr<Sendable> child) {
AddChild(parent, child.get());
}
void LiveWindow::AddChild(Sendable* parent, void* child) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->components[child];
comp.parent = parent;
comp.telemetryEnabled = false;
}
bool LiveWindow::Remove(Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
return m_impl->components.erase(sendable);
}
void LiveWindow::EnableTelemetry(Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
// Re-enable global setting in case DisableAllTelemetry() was called.
m_impl->telemetryEnabled = true;
auto i = m_impl->components.find(sendable);
if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = true;
m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
}
void LiveWindow::DisableTelemetry(Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
auto i = m_impl->components.find(sendable);
if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = false;
m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
}
void LiveWindow::DisableAllTelemetry() {
std::scoped_lock lock(m_impl->mutex);
m_impl->telemetryEnabled = false;
for (auto& i : m_impl->components) i.getSecond().telemetryEnabled = false;
m_impl->registry.ForeachLiveWindow(
m_impl->dataHandle, [&](Sendable*, wpi::StringRef, wpi::StringRef,
Sendable*, std::shared_ptr<void>& data) {
if (!data) data = std::make_shared<Impl::Component>();
std::static_pointer_cast<Impl::Component>(data)->telemetryEnabled =
false;
});
}
bool LiveWindow::IsEnabled() const {
@@ -123,9 +111,13 @@ void LiveWindow::SetEnabled(bool enabled) {
scheduler->SetEnabled(false);
scheduler->RemoveAll();
} else {
for (auto& i : m_impl->components) {
i.getSecond().builder.StopLiveWindowMode();
}
m_impl->registry.ForeachLiveWindow(
m_impl->dataHandle, [&](Sendable*, wpi::StringRef, wpi::StringRef,
Sendable*, std::shared_ptr<void>& data) {
if (data)
std::static_pointer_cast<Impl::Component>(data)
->builder.StopLiveWindowMode();
});
scheduler->SetEnabled(true);
}
m_impl->enabledEntry.SetBoolean(enabled);
@@ -140,37 +132,42 @@ void LiveWindow::UpdateValuesUnsafe() {
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!m_impl->liveWindowEnabled && !m_impl->telemetryEnabled) return;
for (auto& i : m_impl->components) {
auto& comp = i.getSecond();
if (comp.sendable && !comp.parent &&
(m_impl->liveWindowEnabled || comp.telemetryEnabled)) {
if (comp.firstTime) {
// By holding off creating the NetworkTable entries, it allows the
// components to be redefined. This allows default sensor and actuator
// values to be created that are replaced with the custom names from
// users calling setName.
auto name = comp.sendable->GetName();
if (name.empty()) continue;
auto subsystem = comp.sendable->GetSubsystem();
auto ssTable = m_impl->liveWindowTable->GetSubTable(subsystem);
std::shared_ptr<NetworkTable> table;
// Treat name==subsystem as top level of subsystem
if (name == subsystem)
table = ssTable;
else
table = ssTable->GetSubTable(name);
table->GetEntry(".name").SetString(name);
comp.builder.SetTable(table);
comp.sendable->InitSendable(comp.builder);
ssTable->GetEntry(".type").SetString("LW Subsystem");
m_impl->registry.ForeachLiveWindow(
m_impl->dataHandle,
[&](Sendable* sendable, wpi::StringRef name, wpi::StringRef subsystem,
Sendable* parent, std::shared_ptr<void>& data) {
if (!sendable || parent) return;
comp.firstTime = false;
}
if (!data) data = std::make_shared<Impl::Component>();
if (m_impl->startLiveWindow) comp.builder.StartLiveWindowMode();
comp.builder.UpdateTable();
}
}
auto& comp = *std::static_pointer_cast<Impl::Component>(data);
if (!m_impl->liveWindowEnabled && !comp.telemetryEnabled) return;
if (comp.firstTime) {
// By holding off creating the NetworkTable entries, it allows the
// components to be redefined. This allows default sensor and actuator
// values to be created that are replaced with the custom names from
// users calling setName.
if (name.empty()) return;
auto ssTable = m_impl->liveWindowTable->GetSubTable(subsystem);
std::shared_ptr<NetworkTable> table;
// Treat name==subsystem as top level of subsystem
if (name == subsystem)
table = ssTable;
else
table = ssTable->GetSubTable(name);
table->GetEntry(".name").SetString(name);
comp.builder.SetTable(table);
sendable->InitSendable(comp.builder);
ssTable->GetEntry(".type").SetString("LW Subsystem");
comp.firstTime = false;
}
if (m_impl->startLiveWindow) comp.builder.StartLiveWindowMode();
comp.builder.UpdateTable();
});
m_impl->startLiveWindow = false;
}

7
wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include <wpi/DenseMap.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -33,10 +34,10 @@ SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
const private_init&)
: SendableBase(false), m_uri(kProtocol) {
: m_uri(kProtocol) {
CS_Status status = 0;
auto name = cs::GetSourceName(source, &status);
SetName(name);
SendableRegistry::GetInstance().Add(this, name);
m_uri += name;
}

6
wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
View File

@@ -15,6 +15,7 @@
#include "frc/shuffleboard/ShuffleboardComponent.h"
#include "frc/shuffleboard/ShuffleboardLayout.h"
#include "frc/shuffleboard/SimpleWidget.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -80,10 +81,11 @@ ComplexWidget& ShuffleboardContainer::Add(const wpi::Twine& title,
}
ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
if (sendable.GetName().empty()) {
auto name = SendableRegistry::GetInstance().GetName(&sendable);
if (name.empty()) {
wpi::outs() << "Sendable must have a name\n";
}
return Add(sendable.GetName(), sendable);
return Add(name, sendable);
}
ComplexWidget& ShuffleboardContainer::Add(const cs::VideoSource& video) {

59
wpilibc/src/main/native/cpp/smartdashboard/SendableBase.cpp
View File

@@ -7,62 +7,13 @@
#include "frc/smartdashboard/SendableBase.h"
#include <utility>
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
SendableBase::SendableBase(bool addLiveWindow) {
if (addLiveWindow) LiveWindow::GetInstance()->Add(this);
}
SendableBase::SendableBase(SendableBase&& other)
: m_name(std::move(other.m_name)),
m_subsystem(std::move(other.m_subsystem)) {
auto&& lw = LiveWindow::GetInstance();
if (lw->Remove(&other)) {
lw->Add(this);
}
}
SendableBase& SendableBase::operator=(SendableBase&& other) {
m_name = std::move(other.m_name);
m_subsystem = std::move(other.m_subsystem);
auto&& lw = LiveWindow::GetInstance();
if (lw->Remove(&other)) {
lw->Add(this);
}
return *this;
}
SendableBase::~SendableBase() { LiveWindow::GetInstance()->Remove(this); }
std::string SendableBase::GetName() const { return m_name; }
void SendableBase::SetName(const wpi::Twine& name) { m_name = name.str(); }
std::string SendableBase::GetSubsystem() const { return m_subsystem; }
void SendableBase::SetSubsystem(const wpi::Twine& subsystem) {
m_subsystem = subsystem.str();
}
void SendableBase::AddChild(std::shared_ptr<Sendable> child) {
LiveWindow::GetInstance()->AddChild(this, child);
}
void SendableBase::AddChild(void* child) {
LiveWindow::GetInstance()->AddChild(this, child);
}
void SendableBase::SetName(const wpi::Twine& moduleType, int channel) {
SetName(moduleType + wpi::Twine('[') + wpi::Twine(channel) + wpi::Twine(']'));
}
void SendableBase::SetName(const wpi::Twine& moduleType, int moduleNumber,
int channel) {
SetName(moduleType + wpi::Twine('[') + wpi::Twine(moduleNumber) +
wpi::Twine(',') + wpi::Twine(channel) + wpi::Twine(']'));
if (addLiveWindow)
SendableRegistry::GetInstance().AddLW(this, "");
else
SendableRegistry::GetInstance().Add(this, "");
}

9
wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,9 +7,12 @@
#include "frc/smartdashboard/SendableChooserBase.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
std::atomic_int SendableChooserBase::s_instances{0};
SendableChooserBase::SendableChooserBase()
: SendableBase(false), m_instance{s_instances++} {}
SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
}

263
wpilibc/src/main/native/cpp/smartdashboard/SendableRegistry.cpp Normal file
View File

@@ -0,0 +1,263 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/DenseMap.h>
#include <wpi/SmallVector.h>
#include <wpi/mutex.h>
using namespace frc;
struct SendableRegistry::Impl {
struct Component {
Sendable* sendable = nullptr;
std::string name;
std::string subsystem = "Ungrouped";
Sendable* parent = nullptr;
bool liveWindow = false;
wpi::SmallVector<std::shared_ptr<void>, 2> data;
void SetName(const wpi::Twine& moduleType, int channel) {
name =
(moduleType + wpi::Twine('[') + wpi::Twine(channel) + wpi::Twine(']'))
.str();
}
void SetName(const wpi::Twine& moduleType, int moduleNumber, int channel) {
name = (moduleType + wpi::Twine('[') + wpi::Twine(moduleNumber) +
wpi::Twine(',') + wpi::Twine(channel) + wpi::Twine(']'))
.str();
}
};
wpi::mutex mutex;
wpi::DenseMap<void*, Component> components;
int nextDataHandle = 0;
Component& GetOrAdd(Sendable* sendable);
};
SendableRegistry::Impl::Component& SendableRegistry::Impl::GetOrAdd(
Sendable* sendable) {
auto& comp = components[sendable];
comp.sendable = sendable;
return comp;
}
SendableRegistry& SendableRegistry::GetInstance() {
static SendableRegistry instance;
return instance;
}
void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& name) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.name = name.str();
}
void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
int channel) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.SetName(moduleType, channel);
}
void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
int moduleNumber, int channel) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.SetName(moduleType, moduleNumber, channel);
}
void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& subsystem,
const wpi::Twine& name) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.name = name.str();
comp.subsystem = subsystem.str();
}
void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& name) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.liveWindow = true;
comp.name = name.str();
}
void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
int channel) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.liveWindow = true;
comp.SetName(moduleType, channel);
}
void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
int moduleNumber, int channel) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.liveWindow = true;
comp.SetName(moduleType, moduleNumber, channel);
}
void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& subsystem,
const wpi::Twine& name) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->GetOrAdd(sendable);
comp.liveWindow = true;
comp.name = name.str();
comp.subsystem = subsystem.str();
}
void SendableRegistry::AddChild(Sendable* parent, void* child) {
std::scoped_lock lock(m_impl->mutex);
auto& comp = m_impl->components[child];
comp.parent = parent;
}
bool SendableRegistry::Remove(Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
return m_impl->components.erase(sendable);
}
void SendableRegistry::Move(Sendable* to, Sendable* from) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(from);
if (it == m_impl->components.end()) return;
Impl::Component old = std::move(it->getSecond());
m_impl->components.erase(it);
m_impl->components[to] = std::move(old);
m_impl->components[to].sendable = to;
}
bool SendableRegistry::Contains(const Sendable* sendable) const {
std::scoped_lock lock(m_impl->mutex);
return m_impl->components.count(sendable) != 0;
}
std::string SendableRegistry::GetName(const Sendable* sendable) const {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return std::string{};
return it->getSecond().name;
}
void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& name) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return;
it->getSecond().name = name.str();
}
void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
int channel) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return;
it->getSecond().SetName(moduleType, channel);
}
void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
int moduleNumber, int channel) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return;
it->getSecond().SetName(moduleType, moduleNumber, channel);
}
void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& subsystem,
const wpi::Twine& name) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return;
it->getSecond().name = name.str();
it->getSecond().subsystem = subsystem.str();
}
std::string SendableRegistry::GetSubsystem(const Sendable* sendable) const {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return std::string{};
return it->getSecond().subsystem;
}
void SendableRegistry::SetSubsystem(Sendable* sendable,
const wpi::Twine& subsystem) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return;
it->getSecond().subsystem = subsystem.str();
}
int SendableRegistry::GetDataHandle() {
std::scoped_lock lock(m_impl->mutex);
return m_impl->nextDataHandle++;
}
std::shared_ptr<void> SendableRegistry::SetData(Sendable* sendable, int handle,
std::shared_ptr<void> data) {
assert(handle >= 0);
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return nullptr;
auto& comp = it->getSecond();
std::shared_ptr<void> rv;
if (static_cast<size_t>(handle) < comp.data.size())
rv = std::move(comp.data[handle]);
else
comp.data.resize(handle + 1);
comp.data[handle] = std::move(data);
return rv;
}
std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
int handle) {
assert(handle >= 0);
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return nullptr;
auto& comp = it->getSecond();
if (static_cast<size_t>(handle) >= comp.data.size()) return nullptr;
return comp.data[handle];
}
void SendableRegistry::EnableLiveWindow(Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return;
it->getSecond().liveWindow = true;
}
void SendableRegistry::DisableLiveWindow(Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
auto it = m_impl->components.find(sendable);
if (it == m_impl->components.end()) return;
it->getSecond().liveWindow = false;
}
void SendableRegistry::ForeachLiveWindow(
int dataHandle,
wpi::function_ref<void(Sendable* sendable, wpi::StringRef name,
wpi::StringRef subsystem, Sendable* parent,
std::shared_ptr<void>& data)>
callback) const {
assert(dataHandle >= 0);
std::scoped_lock lock(m_impl->mutex);
for (auto& i : m_impl->components) {
auto& comp = i.getSecond();
if (comp.sendable && comp.liveWindow) {
if (static_cast<size_t>(dataHandle) >= comp.data.size())
comp.data.resize(dataHandle + 1);
callback(comp.sendable, comp.name, comp.subsystem, comp.parent,
comp.data[dataHandle]);
}
}
}
SendableRegistry::SendableRegistry() : m_impl(new Impl) {}

5
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
View File

@@ -14,8 +14,8 @@
#include <wpi/mutex.h>
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -115,7 +115,8 @@ void SmartDashboard::PutData(Sendable* value) {
wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
return;
}
PutData(value->GetName(), value);
auto name = SendableRegistry::GetInstance().GetName(value);
if (!name.empty()) PutData(name, value);
}
Sendable* SmartDashboard::GetData(wpi::StringRef key) {