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[wpilib] SpeedControllerGroup: Add vector-taking constructor (#2194)

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This allows the list to be constructed dynamically.

Co-authored-by: Thad House <thadhouse1@gmail.com>
This commit is contained in:
Peter Johnson
2020-04-03 08:39:57 -07:00
committed by GitHub
parent 21aafea098
commit 576d427f03
4 changed files with 46 additions and 15 deletions
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20
wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -8,9 +8,27 @@
#include "frc/SpeedControllerGroup.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
// Can't use a delegated constructor here because of an MSVC bug.
// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
SpeedControllerGroup::SpeedControllerGroup(
std::vector<std::reference_wrapper<SpeedController>>&& speedControllers)
: m_speedControllers(std::move(speedControllers)) {
Initialize();
}
void SpeedControllerGroup::Initialize() {
for (auto& speedController : m_speedControllers)
SendableRegistry::GetInstance().AddChild(this, &speedController.get());
static int instances = 0;
++instances;
SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup", instances);
}
void SpeedControllerGroup::Set(double speed) {
for (auto speedController : m_speedControllers) {
speedController.get().Set(m_isInverted ? -speed : speed);

7
wpilibc/src/main/native/include/frc/SpeedControllerGroup.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -23,7 +23,8 @@ class SpeedControllerGroup : public Sendable,
template <class... SpeedControllers>
explicit SpeedControllerGroup(SpeedController& speedController,
SpeedControllers&... speedControllers);
~SpeedControllerGroup() override = default;
explicit SpeedControllerGroup(
std::vector<std::reference_wrapper<SpeedController>>&& speedControllers);
SpeedControllerGroup(SpeedControllerGroup&&) = default;
SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default;
@@ -41,6 +42,8 @@ class SpeedControllerGroup : public Sendable,
private:
bool m_isInverted = false;
std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
void Initialize();
};
} // namespace frc

14
wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -7,19 +7,17 @@
#pragma once
#include "frc/smartdashboard/SendableRegistry.h"
#include <functional>
#include <vector>
namespace frc {
template <class... SpeedControllers>
SpeedControllerGroup::SpeedControllerGroup(
SpeedController& speedController, SpeedControllers&... speedControllers)
: m_speedControllers{speedController, speedControllers...} {
for (auto& speedController : m_speedControllers)
SendableRegistry::GetInstance().AddChild(this, &speedController.get());
static int instances = 0;
++instances;
SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup", instances);
: m_speedControllers(std::vector<std::reference_wrapper<SpeedController>>{
speedController, speedControllers...}) {
Initialize();
}
} // namespace frc

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -7,6 +7,8 @@
package edu.wpi.first.wpilibj;
import java.util.Arrays;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
@@ -28,13 +30,23 @@ public class SpeedControllerGroup implements SpeedController, Sendable, AutoClos
SpeedController... speedControllers) {
m_speedControllers = new SpeedController[speedControllers.length + 1];
m_speedControllers[0] = speedController;
SendableRegistry.addChild(this, speedController);
for (int i = 0; i < speedControllers.length; i++) {
m_speedControllers[i + 1] = speedControllers[i];
SendableRegistry.addChild(this, speedControllers[i]);
}
init();
}
public SpeedControllerGroup(SpeedController[] speedControllers) {
m_speedControllers = Arrays.copyOf(speedControllers, speedControllers.length);
init();
}
private void init() {
for (SpeedController controller : m_speedControllers) {
SendableRegistry.addChild(this, controller);
}
instances++;
SendableRegistry.addLW(this, "tSpeedControllerGroup", instances);
SendableRegistry.addLW(this, "SpeedControllerGroup", instances);
}
@Override