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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
Download Patch File Download Diff File Expand all files Collapse all files

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
View File

@@ -50,8 +50,6 @@ class CommandParallelGroupTest extends AbstractCommandTest {
Scheduler.getInstance().run();
assertCommandState(command1, 1, 3, 3, 1, 0);
assertCommandState(command2, 1, 5, 5, 1, 0);
commandGroup.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
View File

@@ -88,8 +88,6 @@ class CommandSequentialGroupTest extends AbstractCommandTest {
assertCommandState(command1, 1, 1, 1, 0, 1);
assertCommandState(command2, 1, 2, 2, 0, 1);
assertCommandState(command3, 1, 3, 3, 1, 0);
commandGroup.close();
}
}

10
wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java
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. */
@@ -7,16 +7,16 @@
package edu.wpi.first.wpilibj.shuffleboard;
import edu.wpi.first.wpilibj.SendableBase;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* A mock sendable that marks itself as an actuator.
*/
public class MockActuatorSendable extends SendableBase {
public class MockActuatorSendable implements Sendable {
public MockActuatorSendable(String name) {
super(false);
setName(name);
SendableRegistry.add(this, name);
}
@Override

18
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
View File

@@ -33,8 +33,6 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.run();
assertFalse(scheduler.isScheduled(timeout));
scheduler.close();
}
@Test
@@ -51,8 +49,6 @@ class CommandDecoratorTest extends CommandTestBase {
condition.setCondition(true);
scheduler.run();
assertFalse(scheduler.isScheduled(command));
scheduler.close();
}
@Test
@@ -67,8 +63,6 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.schedule(command.beforeStarting(() -> condition.setCondition(true)));
assertTrue(condition.getCondition());
scheduler.close();
}
@Test
@@ -87,8 +81,6 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.run();
assertTrue(condition.getCondition());
scheduler.close();
}
@Test
@@ -108,8 +100,6 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.run();
assertTrue(condition.getCondition());
scheduler.close();
}
@Test
@@ -134,8 +124,6 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.run();
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -159,8 +147,6 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.run();
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -176,8 +162,6 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.run();
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -194,7 +178,5 @@ class CommandDecoratorTest extends CommandTestBase {
scheduler.run();
assertTrue(scheduler.isScheduled(perpetual));
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
View File

@@ -41,8 +41,6 @@ class CommandGroupErrorTest extends CommandTestBase {
assertThrows(IllegalArgumentException.class,
() -> scheduler.schedule(command1));
scheduler.close();
}
@Test

6
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
View File

@@ -41,8 +41,6 @@ class CommandRequirementsTest extends CommandTestBase {
assertFalse(scheduler.isScheduled(interrupted));
assertTrue(scheduler.isScheduled(interrupter));
scheduler.close();
}
@Test
@@ -61,8 +59,6 @@ class CommandRequirementsTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(notInterrupted));
assertFalse(scheduler.isScheduled(interrupter));
scheduler.close();
}
@Test
@@ -79,7 +75,5 @@ class CommandRequirementsTest extends CommandTestBase {
() -> scheduler.setDefaultCommand(system, missingRequirement));
assertThrows(IllegalArgumentException.class,
() -> scheduler.setDefaultCommand(system, ends));
scheduler.close();
}
}

10
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
View File

@@ -35,8 +35,6 @@ class CommandScheduleTest extends CommandTestBase {
verify(mockCommand).end(false);
assertFalse(scheduler.isScheduled(mockCommand));
scheduler.close();
}
@Test
@@ -59,8 +57,6 @@ class CommandScheduleTest extends CommandTestBase {
verify(mockCommand).end(false);
assertFalse(scheduler.isScheduled(mockCommand));
scheduler.close();
}
@Test
@@ -92,8 +88,6 @@ class CommandScheduleTest extends CommandTestBase {
command3Holder.setFinished(true);
scheduler.run();
assertFalse(scheduler.isScheduled(command1, command2, command3));
scheduler.close();
}
@Test
@@ -114,8 +108,6 @@ class CommandScheduleTest extends CommandTestBase {
verify(mockCommand, never()).end(false);
assertFalse(scheduler.isScheduled(mockCommand));
scheduler.close();
}
@Test
@@ -126,7 +118,5 @@ class CommandScheduleTest extends CommandTestBase {
Command mockCommand = holder.getMock();
assertDoesNotThrow(() -> scheduler.cancel(mockCommand));
scheduler.close();
}
}

4
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
View File

@@ -36,8 +36,6 @@ class ConditionalCommandTest extends CommandTestBase {
verify(command2, never()).initialize();
verify(command2, never()).execute();
verify(command2, never()).end(false);
scheduler.close();
}
@Test
@@ -63,7 +61,5 @@ class ConditionalCommandTest extends CommandTestBase {
verify(command1).end(true);
verify(command2, never()).end(true);
scheduler.close();
}
}

6
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
View File

@@ -27,8 +27,6 @@ class DefaultCommandTest extends CommandTestBase {
scheduler.run();
assertTrue(scheduler.isScheduled(defaultCommand));
scheduler.close();
}
@Test
@@ -54,8 +52,6 @@ class DefaultCommandTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(defaultCommand));
assertFalse(scheduler.isScheduled(interrupter));
scheduler.close();
}
@Test
@@ -83,7 +79,5 @@ class DefaultCommandTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(defaultCommand));
verify(defaultCommand).end(true);
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
View File

@@ -39,7 +39,5 @@ class FunctionalCommandTest extends CommandTestBase {
assertTrue(cond1.getCondition());
assertTrue(cond2.getCondition());
assertTrue(cond3.getCondition());
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
View File

@@ -26,7 +26,5 @@ class InstantCommandTest extends CommandTestBase {
assertTrue(cond.getCondition());
assertFalse(scheduler.isScheduled(command));
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
View File

@@ -30,7 +30,5 @@ class NotifierCommandTest extends CommandTestBase {
scheduler.cancel(command);
assertEquals(.25, 0.01 * counter.m_counter, .025);
scheduler.close();
}
}

8
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
View File

@@ -45,8 +45,6 @@ class ParallelCommandGroupTest extends CommandTestBase {
verify(command2).end(false);
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -75,8 +73,6 @@ class ParallelCommandGroupTest extends CommandTestBase {
verify(command2).end(true);
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -91,8 +87,6 @@ class ParallelCommandGroupTest extends CommandTestBase {
Command group = new ParallelCommandGroup(command1, command2);
assertDoesNotThrow(() -> scheduler.cancel(group));
scheduler.close();
}
@Test
@@ -118,8 +112,6 @@ class ParallelCommandGroupTest extends CommandTestBase {
assertFalse(scheduler.isScheduled(group));
assertTrue(scheduler.isScheduled(command3));
scheduler.close();
}
@Test

6
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
View File

@@ -55,8 +55,6 @@ class ParallelDeadlineGroupTest extends CommandTestBase {
verify(command3, times(2)).execute();
verify(command3, never()).end(false);
verify(command3).end(true);
scheduler.close();
}
@Test
@@ -86,8 +84,6 @@ class ParallelDeadlineGroupTest extends CommandTestBase {
verify(command2, never()).end(true);
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@@ -114,8 +110,6 @@ class ParallelDeadlineGroupTest extends CommandTestBase {
assertFalse(scheduler.isScheduled(group));
assertTrue(scheduler.isScheduled(command3));
scheduler.close();
}
@Test

8
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
View File

@@ -46,8 +46,6 @@ class ParallelRaceGroupTest extends CommandTestBase {
verify(command2, never()).end(false);
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -76,8 +74,6 @@ class ParallelRaceGroupTest extends CommandTestBase {
verify(command2).end(true);
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -92,8 +88,6 @@ class ParallelRaceGroupTest extends CommandTestBase {
Command group = new ParallelRaceGroup(command1, command2);
assertDoesNotThrow(() -> scheduler.cancel(group));
scheduler.close();
}
@@ -120,8 +114,6 @@ class ParallelRaceGroupTest extends CommandTestBase {
assertFalse(scheduler.isScheduled(group));
assertTrue(scheduler.isScheduled(command3));
scheduler.close();
}
@Test

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
View File

@@ -22,7 +22,5 @@ class PerpetualCommandTest extends CommandTestBase {
scheduler.run();
assertTrue(scheduler.isScheduled(command));
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
View File

@@ -33,7 +33,5 @@ class PrintCommandTest extends CommandTestBase {
assertEquals(testOut.toString(), "Test!" + System.lineSeparator());
System.setOut(originalOut);
scheduler.close();
}
}

4
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
View File

@@ -26,8 +26,6 @@ class ProxyScheduleCommandTest extends CommandTestBase {
scheduler.schedule(scheduleCommand);
verify(command1).schedule();
scheduler.close();
}
@Test
@@ -49,7 +47,5 @@ class ProxyScheduleCommandTest extends CommandTestBase {
scheduler.run();
scheduler.run();
assertFalse(scheduler.isScheduled(scheduleCommand));
scheduler.close();
}
}

14
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
View File

@@ -34,8 +34,6 @@ class RobotDisabledCommandTest extends CommandTestBase {
assertFalse(scheduler.isScheduled(mockCommand));
setDSEnabled(true);
scheduler.close();
}
@Test
@@ -54,8 +52,6 @@ class RobotDisabledCommandTest extends CommandTestBase {
scheduler.run();
assertTrue(scheduler.isScheduled(mockCommand));
scheduler.close();
}
@Test
@@ -83,8 +79,6 @@ class RobotDisabledCommandTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(runWhenDisabled));
assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
scheduler.close();
}
@Test
@@ -112,8 +106,6 @@ class RobotDisabledCommandTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(runWhenDisabled));
assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
scheduler.close();
}
@Test
@@ -138,8 +130,6 @@ class RobotDisabledCommandTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(runWhenDisabled));
assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
scheduler.close();
}
@Test
@@ -164,8 +154,6 @@ class RobotDisabledCommandTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(runWhenDisabled));
assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
scheduler.close();
}
@Test
@@ -191,7 +179,5 @@ class RobotDisabledCommandTest extends CommandTestBase {
scheduler.schedule(parallel);
assertFalse(scheduler.isScheduled(runWhenDisabled));
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
View File

@@ -26,7 +26,5 @@ class RunCommandTest extends CommandTestBase {
scheduler.run();
assertEquals(3, counter.m_counter);
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
View File

@@ -27,7 +27,5 @@ class ScheduleCommandTest extends CommandTestBase {
verify(command1).schedule();
verify(command2).schedule();
scheduler.close();
}
}

6
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
View File

@@ -27,8 +27,6 @@ class SchedulerTest extends CommandTestBase {
scheduler.run();
assertEquals(counter.m_counter, 3);
scheduler.close();
}
@Test
@@ -45,8 +43,6 @@ class SchedulerTest extends CommandTestBase {
scheduler.cancel(command);
assertEquals(counter.m_counter, 1);
scheduler.close();
}
@Test
@@ -57,7 +53,5 @@ class SchedulerTest extends CommandTestBase {
scheduler.registerSubsystem(system);
assertDoesNotThrow(() -> scheduler.unregisterSubsystem(system));
scheduler.close();
}
}

6
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
View File

@@ -50,8 +50,6 @@ class SelectCommandTest extends CommandTestBase {
verify(command3, never()).initialize();
verify(command3, never()).execute();
verify(command3, never()).end(false);
scheduler.close();
}
@Test
@@ -74,8 +72,6 @@ class SelectCommandTest extends CommandTestBase {
() -> "four");
assertDoesNotThrow(() -> scheduler.schedule(selectCommand));
scheduler.close();
}
@@ -108,7 +104,5 @@ class SelectCommandTest extends CommandTestBase {
verify(command1).end(true);
verify(command2, never()).end(true);
verify(command3, never()).end(true);
scheduler.close();
}
}

8
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
View File

@@ -50,8 +50,6 @@ class SequentialCommandGroupTest extends CommandTestBase {
verify(command2).end(false);
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -86,8 +84,6 @@ class SequentialCommandGroupTest extends CommandTestBase {
verify(command3, never()).end(false);
assertFalse(scheduler.isScheduled(group));
scheduler.close();
}
@Test
@@ -102,8 +98,6 @@ class SequentialCommandGroupTest extends CommandTestBase {
Command group = new SequentialCommandGroup(command1, command2);
assertDoesNotThrow(() -> scheduler.cancel(group));
scheduler.close();
}
@@ -130,7 +124,5 @@ class SequentialCommandGroupTest extends CommandTestBase {
assertFalse(scheduler.isScheduled(group));
assertTrue(scheduler.isScheduled(command3));
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
View File

@@ -33,7 +33,5 @@ class StartEndCommandTest extends CommandTestBase {
assertFalse(scheduler.isScheduled(command));
assertTrue(cond1.getCondition());
assertTrue(cond2.getCondition());
scheduler.close();
}
}

4
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
View File

@@ -37,8 +37,6 @@ class WaitCommandTest extends CommandTestBase {
scheduler.run();
assertFalse(scheduler.isScheduled(waitCommand));
scheduler.close();
}
@Test
@@ -65,7 +63,5 @@ class WaitCommandTest extends CommandTestBase {
verify(command1).end(true);
verify(command1, never()).end(false);
assertFalse(scheduler.isScheduled(timeout));
scheduler.close();
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
View File

@@ -27,7 +27,5 @@ class WaitUntilCommandTest extends CommandTestBase {
condition.setCondition(true);
scheduler.run();
assertFalse(scheduler.isScheduled(command));
scheduler.close();
}
}