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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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24
wpilibc/src/main/native/cpp/Solenoid.cpp
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@@ -16,22 +16,12 @@
using namespace frc;
Solenoid::Solenoid(PneumaticsBase& module, int channel)
: Solenoid{std::shared_ptr<PneumaticsBase>{
&module, wpi::NullDeleter<PneumaticsBase>()},
channel} {}
Solenoid::Solenoid(PneumaticsBase* module, int channel)
: Solenoid{std::shared_ptr<PneumaticsBase>{
module, wpi::NullDeleter<PneumaticsBase>()},
channel} {}
Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
: m_module{std::move(module)} {
if (!m_module->CheckSolenoidChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
Solenoid::Solenoid(int module, PneumaticsModuleType moduleType, int channel)
: m_module{PneumaticsBase::GetForType(module, moduleType)},
m_channel{channel} {
if (!m_module->CheckSolenoidChannel(m_channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", m_channel);
}
m_channel = channel;
m_mask = 1 << channel;
if (m_module->CheckAndReserveSolenoids(m_mask) != 0) {
@@ -44,6 +34,10 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
m_channel);
}
Solenoid::Solenoid(PneumaticsModuleType moduleType, int channel)
: Solenoid{PneumaticsBase::GetDefaultForType(moduleType), moduleType,
channel} {}
Solenoid::~Solenoid() {
m_module->UnreserveSolenoids(m_mask);
}