Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

25
wpilibc/src/main/native/include/frc/Solenoid.h
View File

@@ -12,20 +12,35 @@
#include <wpi/sendable/SendableHelper.h>
#include "frc/PneumaticsBase.h"
#include "frc/PneumaticsModuleType.h"
namespace frc {
/**
* Solenoid class for running high voltage Digital Output (PCM).
* Solenoid class for running high voltage Digital Output on a pneumatics
* module.
*
* The Solenoid class is typically used for pneumatics solenoids, but could be
* used for any device within the current spec of the PCM.
* used for any device within the current spec of the module.
*/
class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
public:
Solenoid(PneumaticsBase& module, int channel);
Solenoid(PneumaticsBase* module, int channel);
Solenoid(std::shared_ptr<PneumaticsBase> module, int channel);
/**
* Constructs a solenoid for a specified module and type.
*
* @param module The module ID to use.
* @param moduleType The module type to use.
* @param channel The channel the solenoid is on.
*/
Solenoid(int module, PneumaticsModuleType moduleType, int channel);
/**
* Constructs a solenoid for a default module and specified type.
*
* @param moduleType The module type to use.
* @param channel The channel the solenoid is on.
*/
Solenoid(PneumaticsModuleType moduleType, int channel);
~Solenoid() override;