[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>

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java

@@ -8,17 +8,15 @@ import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.PneumaticsControlModule;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /** A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
 public class HatchSubsystem extends SubsystemBase {
-  private final PneumaticsControlModule m_controlModule =
-      new PneumaticsControlModule(HatchConstants.kHatchSolenoidModule);
   private final DoubleSolenoid m_hatchSolenoid =
       new DoubleSolenoid(
-          m_controlModule,
+          PneumaticsModuleType.CTREPCM,
           HatchConstants.kHatchSolenoidPorts[0],
           HatchConstants.kHatchSolenoidPorts[1]);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java

@@ -8,17 +8,15 @@ import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.PneumaticsControlModule;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /** A hatch mechanism actuated by a single {@link DoubleSolenoid}. */
 public class HatchSubsystem extends SubsystemBase {
-  private final PneumaticsControlModule m_controlModule =
-      new PneumaticsControlModule(HatchConstants.kHatchSolenoidModule);
   private final DoubleSolenoid m_hatchSolenoid =
       new DoubleSolenoid(
-          m_controlModule,
+          PneumaticsModuleType.CTREPCM,
           HatchConstants.kHatchSolenoidPorts[0],
           HatchConstants.kHatchSolenoidPorts[1]);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java

@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.pacgoat;
 
-import edu.wpi.first.wpilibj.PneumaticsControlModule;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
@@ -30,8 +29,6 @@ public class Robot extends TimedRobot {
   Command m_autonomousCommand;
   public static OI oi;
 
-  public static PneumaticsControlModule pneumaticsModule = new PneumaticsControlModule(1);
-
   // Initialize the subsystems
   public static DriveTrain drivetrain = new DriveTrain();
   public static Collector collector = new Collector();

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java

@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.Victor;
 
@@ -25,7 +25,7 @@ public class Collector extends Subsystem {
   private final MotorController m_rollerMotor = new Victor(6);
   private final DigitalInput m_ballDetector = new DigitalInput(10);
   private final DigitalInput m_openDetector = new DigitalInput(6);
-  private final Solenoid m_piston = new Solenoid(Robot.pneumaticsModule, 1);
+  private final Solenoid m_piston = new Solenoid(PneumaticsModuleType.CTREPCM, 1);
 
   /** Create a new collector subsystem. */
   public Collector() {

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java

@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
  * The Shooter subsystem handles shooting. The mechanism for shooting is slightly complicated
@@ -21,9 +21,9 @@ import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
  */
 public class Shooter extends Subsystem {
   // Devices
-  DoubleSolenoid m_piston1 = new DoubleSolenoid(Robot.pneumaticsModule, 3, 4);
-  DoubleSolenoid m_piston2 = new DoubleSolenoid(Robot.pneumaticsModule, 5, 6);
-  Solenoid m_latchPiston = new Solenoid(Robot.pneumaticsModule, 2);
+  DoubleSolenoid m_piston1 = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 3, 4);
+  DoubleSolenoid m_piston2 = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 5, 6);
+  Solenoid m_latchPiston = new Solenoid(PneumaticsModuleType.CTREPCM, 2);
   DigitalInput m_piston1ReedSwitchFront = new DigitalInput(9);
   DigitalInput m_piston1ReedSwitchBack = new DigitalInput(11);
   // NOTE: currently ignored in simulation

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.solenoid;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PneumaticsControlModule;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.TimedRobot;
 
@@ -24,13 +24,12 @@ import edu.wpi.first.wpilibj.TimedRobot;
 public class Robot extends TimedRobot {
   private final Joystick m_stick = new Joystick(0);
 
-  private final PneumaticsControlModule m_pneumaticsModule = new PneumaticsControlModule(0);
-
   // Solenoid corresponds to a single solenoid.
-  private final Solenoid m_solenoid = new Solenoid(m_pneumaticsModule, 0);
+  private final Solenoid m_solenoid = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
 
   // DoubleSolenoid corresponds to a double solenoid.
-  private final DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(m_pneumaticsModule, 1, 2);
+  private final DoubleSolenoid m_doubleSolenoid =
+      new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 1, 2);
 
   private static final int kSolenoidButton = 1;
   private static final int kDoubleSolenoidForward = 2;