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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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33
wpilibc/src/test/native/cpp/DoubleSolenoidTest.cpp
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@@ -12,8 +12,7 @@
namespace frc {
TEST(DoubleSolenoidTest, ValidInitialization) {
PneumaticsControlModule pcm{3};
DoubleSolenoid solenoid{pcm, 2, 3};
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
@@ -25,30 +24,30 @@ TEST(DoubleSolenoidTest, ValidInitialization) {
}
TEST(DoubleSolenoidTest, ThrowForwardPortAlreadyInitialized) {
PneumaticsControlModule pcm{5};
// Single solenoid that is reused for forward port
Solenoid solenoid{pcm, 2};
EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidTest, ThrowReversePortAlreadyInitialized) {
PneumaticsControlModule pcm{6};
// Single solenoid that is reused for forward port
Solenoid solenoid{pcm, 3};
EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(pcm, 2);
Solenoid solenoid1(pcm, 3);
EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
Solenoid solenoid1(6, frc::PneumaticsModuleType::CTREPCM, 3);
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidTest, Toggle) {
PneumaticsControlModule pcm{4};
DoubleSolenoid solenoid{&pcm, 2, 3};
DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
@@ -65,12 +64,12 @@ TEST(DoubleSolenoidTest, Toggle) {
}
TEST(DoubleSolenoidTest, InvalidForwardPort) {
PneumaticsControlModule pcm{0};
EXPECT_THROW(DoubleSolenoid(pcm, 100, 1), std::runtime_error);
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
std::runtime_error);
}
TEST(DoubleSolenoidTest, InvalidReversePort) {
PneumaticsControlModule pcm{0};
EXPECT_THROW(DoubleSolenoid(pcm, 0, 100), std::runtime_error);
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
std::runtime_error);
}
} // namespace frc