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

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>

wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTest.java

@@ -13,8 +13,7 @@ import org.junit.jupiter.api.Test;
 public class DoubleSolenoidTest {
   @Test
   void testValidInitialization() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(3);
-        DoubleSolenoid solenoid = new DoubleSolenoid(pcm, 2, 3)) {
+    try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.CTREPCM, 2, 3)) {
       solenoid.set(DoubleSolenoid.Value.kReverse);
       assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
 
@@ -28,36 +27,41 @@ public class DoubleSolenoidTest {
 
   @Test
   void testThrowForwardPortAlreadyInitialized() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(5);
-        // Single solenoid that is reused for forward port
-        Solenoid solenoid = new Solenoid(pcm, 2)) {
-      assertThrows(AllocationException.class, () -> new DoubleSolenoid(pcm, 2, 3));
+    try (
+    // Single solenoid that is reused for forward port
+    Solenoid solenoid = new Solenoid(5, PneumaticsModuleType.CTREPCM, 2)) {
+      assertThrows(
+          AllocationException.class,
+          () -> new DoubleSolenoid(5, PneumaticsModuleType.CTREPCM, 2, 3));
     }
   }
 
   @Test
   void testThrowReversePortAlreadyInitialized() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(6);
-        // Single solenoid that is reused for forward port
-        Solenoid solenoid = new Solenoid(pcm, 3)) {
-      assertThrows(AllocationException.class, () -> new DoubleSolenoid(pcm, 2, 3));
+    try (
+    // Single solenoid that is reused for forward port
+    Solenoid solenoid = new Solenoid(6, PneumaticsModuleType.CTREPCM, 3)) {
+      assertThrows(
+          AllocationException.class,
+          () -> new DoubleSolenoid(6, PneumaticsModuleType.CTREPCM, 2, 3));
     }
   }
 
   @Test
   void testThrowBothPortsAlreadyInitialized() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(6);
-        // Single solenoid that is reused for forward port
-        Solenoid solenoid0 = new Solenoid(pcm, 2);
-        Solenoid solenoid1 = new Solenoid(pcm, 3)) {
-      assertThrows(AllocationException.class, () -> new DoubleSolenoid(pcm, 2, 3));
+    try (
+    // Single solenoid that is reused for forward port
+    Solenoid solenoid0 = new Solenoid(6, PneumaticsModuleType.CTREPCM, 2);
+        Solenoid solenoid1 = new Solenoid(6, PneumaticsModuleType.CTREPCM, 3)) {
+      assertThrows(
+          AllocationException.class,
+          () -> new DoubleSolenoid(6, PneumaticsModuleType.CTREPCM, 2, 3));
     }
   }
 
   @Test
   void testToggle() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(4);
-        DoubleSolenoid solenoid = new DoubleSolenoid(pcm, 2, 3)) {
+    try (DoubleSolenoid solenoid = new DoubleSolenoid(4, PneumaticsModuleType.CTREPCM, 2, 3)) {
       // Bootstrap it into reverse
       solenoid.set(DoubleSolenoid.Value.kReverse);
 
@@ -76,15 +80,15 @@ public class DoubleSolenoidTest {
 
   @Test
   void testInvalidForwardPort() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(0)) {
-      assertThrows(IllegalArgumentException.class, () -> new DoubleSolenoid(pcm, 100, 1));
-    }
+    assertThrows(
+        IllegalArgumentException.class,
+        () -> new DoubleSolenoid(0, PneumaticsModuleType.CTREPCM, 100, 1));
   }
 
   @Test
   void testInvalidReversePort() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(0)) {
-      assertThrows(IllegalArgumentException.class, () -> new DoubleSolenoid(pcm, 0, 100));
-    }
+    assertThrows(
+        IllegalArgumentException.class,
+        () -> new DoubleSolenoid(0, PneumaticsModuleType.CTREPCM, 0, 100));
   }
 }

wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTest.java

@@ -15,8 +15,7 @@ import org.junit.jupiter.api.Test;
 public class SolenoidTest {
   @Test
   void testValidInitialization() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(3);
-        Solenoid solenoid = new Solenoid(pcm, 2)) {
+    try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {
       assertEquals(2, solenoid.getChannel());
 
       solenoid.set(true);
@@ -29,31 +28,29 @@ public class SolenoidTest {
 
   @Test
   void testDoubleInitialization() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(3);
-        Solenoid solenoid = new Solenoid(pcm, 2)) {
-      assertThrows(AllocationException.class, () -> new Solenoid(pcm, 2));
+    try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {
+      assertThrows(
+          AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.CTREPCM, 2));
     }
   }
 
   @Test
   void testDoubleInitializationFromDoubleSolenoid() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(3);
-        DoubleSolenoid solenoid = new DoubleSolenoid(pcm, 2, 3)) {
-      assertThrows(AllocationException.class, () -> new Solenoid(pcm, 2));
+    try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.CTREPCM, 2, 3)) {
+      assertThrows(
+          AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.CTREPCM, 2));
     }
   }
 
   @Test
   void testInvalidChannel() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(3)) {
-      assertThrows(IllegalArgumentException.class, () -> new Solenoid(pcm, 100));
-    }
+    assertThrows(
+        IllegalArgumentException.class, () -> new Solenoid(3, PneumaticsModuleType.CTREPCM, 100));
   }
 
   @Test
   void testToggle() {
-    try (PneumaticsControlModule pcm = new PneumaticsControlModule(3);
-        Solenoid solenoid = new Solenoid(pcm, 2)) {
+    try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {
       solenoid.set(true);
       assertTrue(solenoid.get());
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/CTREPCMSimTest.java

@@ -12,6 +12,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsControlModule;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
 import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
 import org.junit.jupiter.api.Test;
@@ -32,6 +33,7 @@ class CTREPCMSimTest {
         PneumaticsControlModule pcm = new PneumaticsControlModule(0)) {
       assertTrue(sim.getInitialized());
     }
+    assertFalse(sim.getInitialized());
   }
 
   @Test
@@ -39,8 +41,8 @@ class CTREPCMSimTest {
     HAL.initialize(500, 0);
 
     try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
-        DoubleSolenoid doubleSolenoid = new DoubleSolenoid(pcm, 3, 4)) {
-      CTREPCMSim sim = new CTREPCMSim(pcm);
+        DoubleSolenoid doubleSolenoid = new DoubleSolenoid(0, PneumaticsModuleType.CTREPCM, 3, 4)) {
+      CTREPCMSim sim = new CTREPCMSim(0);
       sim.resetData();
 
       BooleanCallback callback3 = new BooleanCallback();
@@ -75,11 +77,14 @@ class CTREPCMSimTest {
         // Off
         callback3.reset();
         callback4.reset();
-        doubleSolenoid.set(DoubleSolenoid.Value.kForward);
-        assertFalse(callback3.wasTriggered());
-        assertNull(callback3.getSetValue());
+        doubleSolenoid.set(DoubleSolenoid.Value.kOff);
+        assertTrue(callback3.wasTriggered());
+        assertFalse(callback3.getSetValue());
         assertFalse(callback4.wasTriggered());
         assertNull(callback4.getSetValue());
+        assertFalse(sim.getSolenoidOutput(3));
+        assertFalse(sim.getSolenoidOutput(4));
+        assertEquals(0x0, pcm.getSolenoids());
       }
     }
   }