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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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30
wpilibc/src/main/native/include/frc/PneumaticsBase.h
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@@ -4,13 +4,30 @@
#pragma once
#include <memory>
#include <units/time.h>
#include "frc/PneumaticsModuleType.h"
namespace frc {
class Solenoid;
class DoubleSolenoid;
class Compressor;
class PneumaticsBase {
public:
virtual ~PneumaticsBase() = default;
virtual bool GetCompressor() const = 0;
virtual bool GetPressureSwitch() const = 0;
virtual double GetCompressorCurrent() const = 0;
virtual void SetClosedLoopControl(bool on) = 0;
virtual bool GetClosedLoopControl() const = 0;
virtual void SetSolenoids(int mask, int values) = 0;
virtual int GetSolenoids() const = 0;
@@ -28,5 +45,18 @@ class PneumaticsBase {
virtual int CheckAndReserveSolenoids(int mask) = 0;
virtual void UnreserveSolenoids(int mask) = 0;
virtual bool ReserveCompressor() = 0;
virtual void UnreserveCompressor() = 0;
virtual Solenoid MakeSolenoid(int channel) = 0;
virtual DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) = 0;
virtual Compressor MakeCompressor() = 0;
static std::shared_ptr<PneumaticsBase> GetForType(
int module, PneumaticsModuleType moduleType);
static int GetDefaultForType(PneumaticsModuleType moduleType);
};
} // namespace frc