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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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10
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
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@@ -99,8 +99,8 @@ public class PCMTest extends AbstractComsSetup {
public void testSolenoid() throws Exception {
reset();
Solenoid solenoid1 = new Solenoid(pcm, 0);
Solenoid solenoid2 = new Solenoid(pcm, 1);
Solenoid solenoid1 = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
Solenoid solenoid2 = new Solenoid(PneumaticsModuleType.CTREPCM, 1);
solenoid1.set(false);
solenoid2.set(false);
@@ -147,7 +147,7 @@ public class PCMTest extends AbstractComsSetup {
*/
@Test
public void doubleSolenoid() {
DoubleSolenoid solenoid = new DoubleSolenoid(pcm, 0, 1);
DoubleSolenoid solenoid = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 0, 1);
solenoid.set(DoubleSolenoid.Value.kOff);
Timer.delay(kSolenoidDelayTime);
@@ -177,8 +177,8 @@ public class PCMTest extends AbstractComsSetup {
public void testOneShot() throws Exception {
reset();
Solenoid solenoid1 = new Solenoid(pcm, 0);
Solenoid solenoid2 = new Solenoid(pcm, 1);
Solenoid solenoid1 = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
Solenoid solenoid2 = new Solenoid(PneumaticsModuleType.CTREPCM, 1);
solenoid1.set(false);
solenoid2.set(false);