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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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22
wpilibc/src/test/native/cpp/SolenoidTest.cpp
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@@ -11,8 +11,7 @@
namespace frc {
TEST(SolenoidTest, ValidInitialization) {
PneumaticsControlModule pcm{3};
Solenoid solenoid{pcm, 2};
Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_EQ(2, solenoid.GetChannel());
solenoid.Set(true);
@@ -23,25 +22,24 @@ TEST(SolenoidTest, ValidInitialization) {
}
TEST(SolenoidTest, DoubleInitialization) {
PneumaticsControlModule pcm{3};
Solenoid solenoid{&pcm, 2};
EXPECT_THROW(Solenoid(pcm, 2), std::runtime_error);
Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
std::runtime_error);
}
TEST(SolenoidTest, DoubleInitializationFromDoubleSolenoid) {
PneumaticsControlModule pcm{3};
DoubleSolenoid solenoid{pcm, 2, 3};
EXPECT_THROW(Solenoid(pcm, 2), std::runtime_error);
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
std::runtime_error);
}
TEST(SolenoidTest, InvalidChannel) {
PneumaticsControlModule pcm{3};
EXPECT_THROW(Solenoid(pcm, 100), std::runtime_error);
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 100),
std::runtime_error);
}
TEST(SolenoidTest, Toggle) {
PneumaticsControlModule pcm{3};
Solenoid solenoid{pcm, 2};
Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
solenoid.Set(true);
EXPECT_TRUE(solenoid.Get());