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[hal, wpilib] Switch PCM to be a single object that is allowed to be duplicated (#3475)

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Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places.

In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested.

In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one.

This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM.

After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors.

Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
This commit is contained in:
Thad House
2021-09-16 18:50:27 -07:00
committed by GitHub
parent 906bfc8464
commit 60ede67abd
43 changed files with 1016 additions and 317 deletions
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26
wpilibc/src/main/native/cpp/PneumaticsBase.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/PneumaticsBase.h"
#include "frc/Errors.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/SensorUtil.h"
using namespace frc;
std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
int module, PneumaticsModuleType moduleType) {
if (moduleType == PneumaticsModuleType::CTREPCM) {
return PneumaticsControlModule::GetForModule(module);
}
throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
}
int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
if (moduleType == PneumaticsModuleType::CTREPCM) {
return SensorUtil::GetDefaultCTREPCMModule();
}
throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
}