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[wpilib] SendableChooser: implement Sendable instead of NTSendable (#5718)

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This commit is contained in:
Gold856
2023-10-05 00:15:34 -04:00
committed by GitHub
parent a4030c670f
commit 6576d9b474
6 changed files with 12 additions and 56 deletions
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4
wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
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@@ -19,8 +19,6 @@ SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)
m_defaultChoice(std::move(oth.m_defaultChoice)),
m_selected(std::move(oth.m_selected)),
m_haveSelected(std::move(oth.m_haveSelected)),
m_instancePubs(std::move(oth.m_instancePubs)),
m_activePubs(std::move(oth.m_activePubs)),
m_instance(std::move(oth.m_instance)) {}
SendableChooserBase& SendableChooserBase::operator=(SendableChooserBase&& oth) {
@@ -29,8 +27,6 @@ SendableChooserBase& SendableChooserBase::operator=(SendableChooserBase&& oth) {
m_defaultChoice = std::move(oth.m_defaultChoice);
m_selected = std::move(oth.m_selected);
m_haveSelected = std::move(oth.m_haveSelected);
m_instancePubs = std::move(oth.m_instancePubs);
m_activePubs = std::move(oth.m_activePubs);
m_instance = std::move(oth.m_instance);
return *this;
}

2
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
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@@ -91,7 +91,7 @@ class SendableChooser : public SendableChooserBase {
*/
void OnChange(std::function<void(T)>);
void InitSendable(nt::NTSendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc

16
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc
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@@ -12,7 +12,7 @@
#include <utility>
#include <vector>
#include <networktables/NTSendableBuilder.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/smartdashboard/SendableChooser.h"
@@ -58,16 +58,9 @@ void SendableChooser<T>::OnChange(std::function<void(T)> listener) {
template <class T>
requires std::copy_constructible<T> && std::default_initializable<T>
void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
void SendableChooser<T>::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("String Chooser");
{
std::scoped_lock lock(m_mutex);
m_instancePubs.emplace_back(
nt::IntegerTopic{builder.GetTopic(kInstance)}.Publish());
m_instancePubs.back().Set(m_instance);
m_activePubs.emplace_back(
nt::StringTopic{builder.GetTopic(kActive)}.Publish());
}
builder.PublishConstInteger(kInstance, m_instance);
builder.AddStringArrayProperty(
kOptions,
[=, this] {
@@ -109,9 +102,6 @@ void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
std::scoped_lock lock(m_mutex);
m_haveSelected = true;
m_selected = val;
for (auto& pub : m_activePubs) {
pub.Set(val);
}
if (m_previousVal != val && m_listener) {
choice = m_choices[val];
listener = m_listener;

9
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h
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@@ -7,11 +7,8 @@
#include <atomic>
#include <string>
#include <networktables/IntegerTopic.h>
#include <networktables/NTSendable.h>
#include <networktables/StringTopic.h>
#include <wpi/SmallVector.h>
#include <wpi/mutex.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
@@ -22,7 +19,7 @@ namespace frc {
* It contains static, non-templated variables to avoid their duplication in the
* template class.
*/
class SendableChooserBase : public nt::NTSendable,
class SendableChooserBase : public wpi::Sendable,
public wpi::SendableHelper<SendableChooserBase> {
public:
SendableChooserBase();
@@ -41,8 +38,6 @@ class SendableChooserBase : public nt::NTSendable,
std::string m_defaultChoice;
std::string m_selected;
bool m_haveSelected = false;
wpi::SmallVector<nt::IntegerPublisher, 2> m_instancePubs;
wpi::SmallVector<nt::StringPublisher, 2> m_activePubs;
wpi::mutex m_mutex;
int m_instance;
std::string m_previousVal;

1
wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
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@@ -9,6 +9,7 @@
#include <gtest/gtest.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/StringTopic.h>
class SendableChooserTest : public ::testing::TestWithParam<int> {};

36
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
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@@ -6,16 +6,10 @@ package edu.wpi.first.wpilibj.smartdashboard;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerTopic;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.networktables.StringTopic;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import java.util.ArrayList;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.locks.ReentrantLock;
@@ -33,7 +27,7 @@ import java.util.function.Consumer;
*
* @param <V> The type of the values to be stored
*/
public class SendableChooser<V> implements NTSendable, AutoCloseable {
public class SendableChooser<V> implements Sendable, AutoCloseable {
/** The key for the default value. */
private static final String DEFAULT = "default";
@@ -67,14 +61,6 @@ public class SendableChooser<V> implements NTSendable, AutoCloseable {
@Override
public void close() {
SendableRegistry.remove(this);
m_mutex.lock();
try {
for (StringPublisher pub : m_activePubs) {
pub.close();
}
} finally {
m_mutex.unlock();
}
}
/**
@@ -136,15 +122,12 @@ public class SendableChooser<V> implements NTSendable, AutoCloseable {
}
private String m_selected;
private final List<StringPublisher> m_activePubs = new ArrayList<>();
private final ReentrantLock m_mutex = new ReentrantLock();
@Override
public void initSendable(NTSendableBuilder builder) {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("String Chooser");
IntegerPublisher instancePub = new IntegerTopic(builder.getTopic(INSTANCE)).publish();
instancePub.set(m_instance);
builder.addCloseable(instancePub);
builder.publishConstInteger(INSTANCE, m_instance);
builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null);
builder.addStringArrayProperty(OPTIONS, () -> m_map.keySet().toArray(new String[0]), null);
builder.addStringProperty(
@@ -162,12 +145,6 @@ public class SendableChooser<V> implements NTSendable, AutoCloseable {
}
},
null);
m_mutex.lock();
try {
m_activePubs.add(new StringTopic(builder.getTopic(ACTIVE)).publish());
} finally {
m_mutex.unlock();
}
builder.addStringProperty(
SELECTED,
null,
@@ -185,9 +162,6 @@ public class SendableChooser<V> implements NTSendable, AutoCloseable {
listener = null;
}
m_previousVal = val;
for (StringPublisher pub : m_activePubs) {
pub.set(val);
}
} finally {
m_mutex.unlock();
}