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Simplify Sendable interface (#1864)

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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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172
wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
View File

@@ -7,38 +7,27 @@
package edu.wpi.first.wpilibj.livewindow;
import java.util.HashMap;
import java.util.Map;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* The LiveWindow class is the public interface for putting sensors and actuators on the
* LiveWindow.
*/
@SuppressWarnings("PMD.TooManyMethods")
public class LiveWindow {
private static class Component {
Component(Sendable sendable, Sendable parent) {
m_sendable = sendable;
m_parent = parent;
}
final Sendable m_sendable;
Sendable m_parent;
final SendableBuilderImpl m_builder = new SendableBuilderImpl();
boolean m_firstTime = true;
boolean m_telemetryEnabled = true;
}
@SuppressWarnings("PMD.UseConcurrentHashMap")
private static final Map<Object, Component> components = new HashMap<>();
private static final int dataHandle = SendableRegistry.getDataHandle();
private static final NetworkTable liveWindowTable =
NetworkTableInstance.getDefault().getTable("LiveWindow");
private static final NetworkTable statusTable = liveWindowTable.getSubTable(".status");
@@ -47,6 +36,15 @@ public class LiveWindow {
private static boolean liveWindowEnabled;
private static boolean telemetryEnabled = true;
private static Component getOrAdd(Sendable sendable) {
Component data = (Component) SendableRegistry.getData(sendable, dataHandle);
if (data == null) {
data = new Component();
SendableRegistry.setData(sendable, dataHandle, data);
}
return data;
}
private LiveWindow() {
throw new UnsupportedOperationException("This is a utility class!");
}
@@ -75,53 +73,19 @@ public class LiveWindow {
scheduler.removeAll();
} else {
System.out.println("stopping live window mode.");
for (Component component : components.values()) {
component.m_builder.stopLiveWindowMode();
}
SendableRegistry.foreachLiveWindow(dataHandle,
(sendable, name, subsystem, parent, data) -> {
if (data != null) {
((Component) data).m_builder.stopLiveWindowMode();
}
return data;
});
scheduler.enable();
}
enabledEntry.setBoolean(enabled);
}
}
/**
* Add a component to the LiveWindow.
*
* @param sendable component to add
*/
public static synchronized void add(Sendable sendable) {
components.putIfAbsent(sendable, new Component(sendable, null));
}
/**
* Add a child component to a component.
*
* @param parent parent component
* @param child child component
*/
public static synchronized void addChild(Sendable parent, Object child) {
Component component = components.get(child);
if (component == null) {
component = new Component(null, parent);
components.put(child, component);
} else {
component.m_parent = parent;
}
component.m_telemetryEnabled = false;
}
/**
* Remove a component from the LiveWindow.
*
* @param sendable component to remove
*/
public static synchronized void remove(Sendable sendable) {
Component component = components.remove(sendable);
if (component != null && isEnabled()) {
component.m_builder.stopLiveWindowMode();
}
}
/**
* Enable telemetry for a single component.
*
@@ -130,10 +94,7 @@ public class LiveWindow {
public static synchronized void enableTelemetry(Sendable sendable) {
// Re-enable global setting in case disableAllTelemetry() was called.
telemetryEnabled = true;
Component component = components.get(sendable);
if (component != null) {
component.m_telemetryEnabled = true;
}
getOrAdd(sendable).m_telemetryEnabled = true;
}
/**
@@ -142,10 +103,7 @@ public class LiveWindow {
* @param sendable component
*/
public static synchronized void disableTelemetry(Sendable sendable) {
Component component = components.get(sendable);
if (component != null) {
component.m_telemetryEnabled = false;
}
getOrAdd(sendable).m_telemetryEnabled = false;
}
/**
@@ -153,9 +111,13 @@ public class LiveWindow {
*/
public static synchronized void disableAllTelemetry() {
telemetryEnabled = false;
for (Component component : components.values()) {
component.m_telemetryEnabled = false;
}
SendableRegistry.foreachLiveWindow(dataHandle, (sendable, name, subsystem, parent, data) -> {
if (data == null) {
data = new Component();
}
((Component) data).m_telemetryEnabled = false;
return data;
});
}
/**
@@ -164,48 +126,58 @@ public class LiveWindow {
* <p>Actuators are handled through callbacks on their value changing from the
* SmartDashboard widgets.
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
@SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
public static synchronized void updateValues() {
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!liveWindowEnabled && !telemetryEnabled) {
return;
}
for (Component component : components.values()) {
if (component.m_sendable != null && component.m_parent == null
&& (liveWindowEnabled || component.m_telemetryEnabled)) {
if (component.m_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.
String name = component.m_sendable.getName();
if (name.isEmpty()) {
continue;
}
String subsystem = component.m_sendable.getSubsystem();
NetworkTable ssTable = liveWindowTable.getSubTable(subsystem);
NetworkTable table;
// Treat name==subsystem as top level of subsystem
if (name.equals(subsystem)) {
table = ssTable;
} else {
table = ssTable.getSubTable(name);
}
table.getEntry(".name").setString(name);
component.m_builder.setTable(table);
component.m_sendable.initSendable(component.m_builder);
ssTable.getEntry(".type").setString("LW Subsystem");
component.m_firstTime = false;
}
if (startLiveWindow) {
component.m_builder.startLiveWindowMode();
}
component.m_builder.updateTable();
SendableRegistry.foreachLiveWindow(dataHandle, (sendable, name, subsystem, parent, data) -> {
if (sendable == null || parent != null) {
return data;
}
}
if (data == null) {
data = new Component();
}
Component component = (Component) data;
if (!liveWindowEnabled && !component.m_telemetryEnabled) {
return data;
}
if (component.m_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.isEmpty()) {
return data;
}
NetworkTable ssTable = liveWindowTable.getSubTable(subsystem);
NetworkTable table;
// Treat name==subsystem as top level of subsystem
if (name.equals(subsystem)) {
table = ssTable;
} else {
table = ssTable.getSubTable(name);
}
table.getEntry(".name").setString(name);
component.m_builder.setTable(table);
sendable.initSendable(component.m_builder);
ssTable.getEntry(".type").setString("LW Subsystem");
component.m_firstTime = false;
}
if (startLiveWindow) {
component.m_builder.startLiveWindowMode();
}
component.m_builder.updateTable();
return data;
});
startLiveWindow = false;
}