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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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15
wpilibcIntegrationTests/src/main/native/cpp/PCMTest.cpp
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@@ -66,8 +66,10 @@ TEST_F(PCMTest, PressureSwitch) {
*/
TEST_F(PCMTest, Solenoid) {
Reset();
frc::Solenoid solenoid1{m_pneumaticsModule, TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{m_pneumaticsModule, TestBench::kSolenoidChannel2};
frc::Solenoid solenoid1{frc::PneumaticsModuleType::CTREPCM,
TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{frc::PneumaticsModuleType::CTREPCM,
TestBench::kSolenoidChannel2};
// Turn both solenoids off
solenoid1.Set(false);
@@ -111,7 +113,8 @@ TEST_F(PCMTest, Solenoid) {
* with the DoubleSolenoid class.
*/
TEST_F(PCMTest, DoubleSolenoid) {
frc::DoubleSolenoid solenoid{m_pneumaticsModule, TestBench::kSolenoidChannel1,
frc::DoubleSolenoid solenoid{frc::PneumaticsModuleType::CTREPCM,
TestBench::kSolenoidChannel1,
TestBench::kSolenoidChannel2};
solenoid.Set(frc::DoubleSolenoid::kOff);
@@ -138,8 +141,10 @@ TEST_F(PCMTest, DoubleSolenoid) {
TEST_F(PCMTest, OneShot) {
Reset();
frc::Solenoid solenoid1{m_pneumaticsModule, TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{m_pneumaticsModule, TestBench::kSolenoidChannel2};
frc::Solenoid solenoid1{frc::PneumaticsModuleType::CTREPCM,
TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{frc::PneumaticsModuleType::CTREPCM,
TestBench::kSolenoidChannel2};
// Turn both solenoids off
solenoid1.Set(false);