Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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

7
wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
View File

@@ -54,13 +54,12 @@ class Robot : public frc::TimedRobot {
private:
frc::Joystick m_stick{0};
frc::PneumaticsControlModule m_pneumaticsModule;
// Solenoid corresponds to a single solenoid.
frc::Solenoid m_solenoid{m_pneumaticsModule, 0};
frc::Solenoid m_solenoid{frc::PneumaticsModuleType::CTREPCM, 0};
// DoubleSolenoid corresponds to a double solenoid.
frc::DoubleSolenoid m_doubleSolenoid{m_pneumaticsModule, 1, 2};
frc::DoubleSolenoid m_doubleSolenoid{frc::PneumaticsModuleType::CTREPCM, 1,
2};
static constexpr int kSolenoidButton = 1;
static constexpr int kDoubleSolenoidForward = 2;