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[ntcore] NetworkTables 4 (#3217)

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This commit is contained in:
Peter Johnson
2022-10-08 10:01:31 -07:00
committed by GitHub
parent 90cfa00115
commit 77301b126c
380 changed files with 34573 additions and 22095 deletions
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43
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -9,9 +9,13 @@ import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.IntegerArrayEntry;
import edu.wpi.first.networktables.IntegerArrayPublisher;
import edu.wpi.first.networktables.IntegerArrayTopic;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.StringArrayPublisher;
import edu.wpi.first.networktables.StringArrayTopic;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotBase;
@@ -540,36 +544,43 @@ public final class CommandScheduler implements NTSendable, AutoCloseable {
@Override
public void initSendable(NTSendableBuilder builder) {
builder.setSmartDashboardType("Scheduler");
final NetworkTableEntry namesEntry = builder.getEntry("Names");
final NetworkTableEntry idsEntry = builder.getEntry("Ids");
final NetworkTableEntry cancelEntry = builder.getEntry("Cancel");
final StringArrayPublisher namesPub = new StringArrayTopic(builder.getTopic("Names")).publish();
final IntegerArrayPublisher idsPub = new IntegerArrayTopic(builder.getTopic("Ids")).publish();
final IntegerArrayEntry cancelEntry =
new IntegerArrayTopic(builder.getTopic("Cancel")).getEntry(new long[] {});
builder.addCloseable(namesPub);
builder.addCloseable(idsPub);
builder.addCloseable(cancelEntry);
builder.setUpdateTable(
() -> {
if (namesEntry == null || idsEntry == null || cancelEntry == null) {
if (namesPub == null || idsPub == null || cancelEntry == null) {
return;
}
Map<Double, Command> ids = new LinkedHashMap<>();
Map<Long, Command> ids = new LinkedHashMap<>();
List<String> names = new ArrayList<>();
long[] ids2 = new long[m_scheduledCommands.size()];
int i = 0;
for (Command command : m_scheduledCommands) {
ids.put((double) command.hashCode(), command);
long id = command.hashCode();
ids.put(id, command);
names.add(command.getName());
ids2[i] = id;
i++;
}
double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
long[] toCancel = cancelEntry.get();
if (toCancel.length > 0) {
for (double hash : toCancel) {
for (long hash : toCancel) {
cancel(ids.get(hash));
ids.remove(hash);
}
cancelEntry.setDoubleArray(new double[0]);
cancelEntry.set(new long[] {});
}
List<String> names = new ArrayList<>();
ids.values().forEach(command -> names.add(command.getName()));
namesEntry.setStringArray(names.toArray(new String[0]));
idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
namesPub.set(names.toArray(new String[] {}));
idsPub.set(ids2);
});
}
}

35
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
View File

@@ -6,8 +6,9 @@ package edu.wpi.first.wpilibj2.command.button;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.BooleanTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
/**
@@ -19,11 +20,20 @@ public class NetworkButton extends Button {
/**
* Creates a NetworkButton that commands can be bound to.
*
* @param entry The entry that is the value.
* @param topic The boolean topic that contains the value.
*/
public NetworkButton(NetworkTableEntry entry) {
super(() -> entry.getInstance().isConnected() && entry.getBoolean(false));
requireNonNullParam(entry, "entry", "NetworkButton");
public NetworkButton(BooleanTopic topic) {
this(topic.subscribe(false));
}
/**
* Creates a NetworkButton that commands can be bound to.
*
* @param sub The boolean subscriber that provides the value.
*/
public NetworkButton(BooleanSubscriber sub) {
super(() -> sub.getTopic().getInstance().isConnected() && sub.get());
requireNonNullParam(sub, "sub", "NetworkButton");
}
/**
@@ -33,7 +43,7 @@ public class NetworkButton extends Button {
* @param field The field that is the value.
*/
public NetworkButton(NetworkTable table, String field) {
this(table.getEntry(field));
this(table.getBooleanTopic(field));
}
/**
@@ -43,6 +53,17 @@ public class NetworkButton extends Button {
* @param field The field that is the value.
*/
public NetworkButton(String table, String field) {
this(NetworkTableInstance.getDefault().getTable(table), field);
this(NetworkTableInstance.getDefault(), table, field);
}
/**
* Creates a NetworkButton that commands can be bound to.
*
* @param inst The NetworkTable instance to use
* @param table The table where the networktable value is located.
* @param field The field that is the value.
*/
public NetworkButton(NetworkTableInstance inst, String table, String field) {
this(inst.getTable(table), field);
}
}