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Update wpilibj to use new NetworkTables package and interfaces.

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This may be breaking to CANSpeedController implementations.
This commit is contained in:
Peter Johnson
2017-08-28 00:32:53 -07:00
parent 91529cc435
commit 4e80570c4c
38 changed files with 929 additions and 541 deletions
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25
wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
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@@ -11,9 +11,10 @@ import java.util.Enumeration;
import java.util.Hashtable;
import java.util.Vector;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.tables.ITable;
/**
@@ -25,8 +26,9 @@ public class LiveWindow {
private static Vector<LiveWindowSendable> sensors = new Vector<>();
// private static Vector actuators = new Vector();
private static Hashtable<LiveWindowSendable, LiveWindowComponent> components = new Hashtable<>();
private static ITable livewindowTable;
private static ITable statusTable;
private static NetworkTable livewindowTable;
private static NetworkTable statusTable;
private static NetworkTableEntry enabledEntry;
private static boolean liveWindowEnabled = false;
private static boolean firstTime = true;
@@ -38,19 +40,20 @@ public class LiveWindow {
*/
private static void initializeLiveWindowComponents() {
System.out.println("Initializing the components first time");
livewindowTable = NetworkTable.getTable("LiveWindow");
livewindowTable = NetworkTableInstance.getDefault().getTable("LiveWindow");
statusTable = livewindowTable.getSubTable("~STATUS~");
enabledEntry = statusTable.getEntry("LW Enabled");
for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
LiveWindowComponent liveWindowComponent = components.get(component);
String subsystem = liveWindowComponent.getSubsystem();
String name = liveWindowComponent.getName();
System.out.println("Initializing table for '" + subsystem + "' '" + name + "'");
livewindowTable.getSubTable(subsystem).putString("~TYPE~", "LW Subsystem");
ITable table = livewindowTable.getSubTable(subsystem).getSubTable(name);
table.putString("~TYPE~", component.getSmartDashboardType());
table.putString("Name", name);
table.putString("Subsystem", subsystem);
livewindowTable.getSubTable(subsystem).getEntry("~TYPE~").setString("LW Subsystem");
NetworkTable table = livewindowTable.getSubTable(subsystem).getSubTable(name);
table.getEntry("~TYPE~").setString(component.getSmartDashboardType());
table.getEntry("Name").setString(name);
table.getEntry("Subsystem").setString(subsystem);
component.initTable(table);
if (liveWindowComponent.isSensor()) {
sensors.addElement(component);
@@ -89,7 +92,7 @@ public class LiveWindow {
Scheduler.getInstance().enable();
}
liveWindowEnabled = enabled;
statusTable.putBoolean("LW Enabled", enabled);
enabledEntry.setBoolean(enabled);
}
}