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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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31
wpilibc/src/main/native/include/frc/DoubleSolenoid.h
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@@ -11,12 +11,13 @@
#include <wpi/sendable/SendableHelper.h>
#include "frc/PneumaticsBase.h"
#include "frc/PneumaticsModuleType.h"
namespace frc {
/**
* DoubleSolenoid class for running 2 channels of high voltage Digital Output
* (PCM).
* on a pneumatics module.
*
* The DoubleSolenoid class is typically used for pneumatics solenoids that
* have two positions controlled by two separate channels.
@@ -26,11 +27,27 @@ class DoubleSolenoid : public wpi::Sendable,
public:
enum Value { kOff, kForward, kReverse };
DoubleSolenoid(PneumaticsBase& module, int forwardChannel,
int reverseChannel);
DoubleSolenoid(PneumaticsBase* module, int forwardChannel,
int reverseChannel);
DoubleSolenoid(std::shared_ptr<PneumaticsBase> module, int forwardChannel,
/**
* Constructs a double solenoid for a specified module of a specific module
* type.
*
* @param module The module of the solenoid module to use.
* @param moduleType The module type to use.
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
*/
DoubleSolenoid(int module, PneumaticsModuleType moduleType,
int forwardChannel, int reverseChannel);
/**
* Constructs a double solenoid for a default module of a specific module
* type.
*
* @param moduleType The module type to use.
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
*/
DoubleSolenoid(PneumaticsModuleType moduleType, int forwardChannel,
int reverseChannel);
~DoubleSolenoid() override;
@@ -100,12 +117,12 @@ class DoubleSolenoid : public wpi::Sendable,
void InitSendable(wpi::SendableBuilder& builder) override;
private:
std::shared_ptr<PneumaticsBase> m_module;
int m_forwardChannel; // The forward channel on the module to control.
int m_reverseChannel; // The reverse channel on the module to control.
int m_forwardMask; // The mask for the forward channel.
int m_reverseMask; // The mask for the reverse channel.
int m_mask;
std::shared_ptr<PneumaticsBase> m_module;
};
} // namespace frc