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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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58
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -12,8 +12,9 @@
#include <frc/livewindow/LiveWindow.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <networktables/IntegerArrayTopic.h>
#include <networktables/NTSendableBuilder.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/StringArrayTopic.h>
#include <wpi/DenseMap.h>
#include <wpi/SmallVector.h>
#include <wpi/sendable/SendableRegistry.h>
@@ -418,34 +419,35 @@ void CommandScheduler::OnCommandFinish(Action action) {
void CommandScheduler::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
auto namesEntry = builder.GetEntry("Names");
auto idsEntry = builder.GetEntry("Ids");
auto cancelEntry = builder.GetEntry("Cancel");
builder.SetUpdateTable(
[this,
namesPub = nt::StringArrayTopic{builder.GetTopic("Names")}.Publish(),
idsPub = nt::IntegerArrayTopic{builder.GetTopic("Ids")}.Publish(),
cancelEntry = nt::IntegerArrayTopic{builder.GetTopic("Cancel")}.GetEntry(
{})]() mutable {
auto toCancel = cancelEntry.Get();
if (!toCancel.empty()) {
for (auto cancel : cancelEntry.Get()) {
uintptr_t ptrTmp = static_cast<uintptr_t>(cancel);
Command* command = reinterpret_cast<Command*>(ptrTmp);
if (m_impl->scheduledCommands.find(command) !=
m_impl->scheduledCommands.end()) {
Cancel(command);
}
}
cancelEntry.Set({});
}
builder.SetUpdateTable([=] {
double tmp[1];
tmp[0] = 0;
auto toCancel = cancelEntry.GetDoubleArray(tmp);
for (auto cancel : toCancel) {
uintptr_t ptrTmp = static_cast<uintptr_t>(cancel);
Command* command = reinterpret_cast<Command*>(ptrTmp);
if (m_impl->scheduledCommands.find(command) !=
m_impl->scheduledCommands.end()) {
Cancel(command);
}
nt::NetworkTableEntry(cancelEntry).SetDoubleArray({});
}
wpi::SmallVector<std::string, 8> names;
wpi::SmallVector<double, 8> ids;
for (Command* command : m_impl->scheduledCommands) {
names.emplace_back(command->GetName());
uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(command);
ids.emplace_back(static_cast<double>(ptrTmp));
}
nt::NetworkTableEntry(namesEntry).SetStringArray(names);
nt::NetworkTableEntry(idsEntry).SetDoubleArray(ids);
});
wpi::SmallVector<std::string, 8> names;
wpi::SmallVector<int64_t, 8> ids;
for (Command* command : m_impl->scheduledCommands) {
names.emplace_back(command->GetName());
uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(command);
ids.emplace_back(static_cast<int64_t>(ptrTmp));
}
namesPub.Set(names);
idsPub.Set(ids);
});
}
void CommandScheduler::SetDefaultCommandImpl(Subsystem* subsystem,