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[wpilib] Reduce usage of NTSendable (#5434)

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This commit is contained in:
Gold856
2023-07-24 00:34:49 -04:00
committed by GitHub
parent d125711023
commit 99b88be4f3
11 changed files with 134 additions and 85 deletions
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74
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -9,13 +9,8 @@ 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.StringArrayPublisher;
import edu.wpi.first.networktables.StringArrayTopic;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotBase;
@@ -46,7 +41,7 @@ import java.util.function.Consumer;
*
* <p>This class is provided by the NewCommands VendorDep
*/
public final class CommandScheduler implements NTSendable, AutoCloseable {
public final class CommandScheduler implements Sendable, AutoCloseable {
/** The Singleton Instance. */
private static CommandScheduler instance;
@@ -624,45 +619,46 @@ public final class CommandScheduler implements NTSendable, AutoCloseable {
}
@Override
public void initSendable(NTSendableBuilder builder) {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Scheduler");
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(
builder.addStringArrayProperty(
"Names",
() -> {
if (namesPub == null || idsPub == null || cancelEntry == null) {
return;
}
Map<Long, Command> ids = new LinkedHashMap<>();
List<String> names = new ArrayList<>();
long[] ids2 = new long[m_scheduledCommands.size()];
String[] names = new String[m_scheduledCommands.size()];
int i = 0;
for (Command command : m_scheduledCommands) {
names[i] = command.getName();
i++;
}
return names;
},
null);
builder.addIntegerArrayProperty(
"Ids",
() -> {
long[] ids = new long[m_scheduledCommands.size()];
int i = 0;
for (Command command : m_scheduledCommands) {
ids[i] = command.hashCode();
i++;
}
return ids;
},
null);
builder.addIntegerArrayProperty(
"Cancel",
() -> {
return new long[] {};
},
toCancel -> {
Map<Long, Command> ids = new LinkedHashMap<>();
for (Command command : m_scheduledCommands) {
long id = command.hashCode();
ids.put(id, command);
names.add(command.getName());
ids2[i] = id;
i++;
}
long[] toCancel = cancelEntry.get();
if (toCancel.length > 0) {
for (long hash : toCancel) {
cancel(ids.get(hash));
ids.remove(hash);
}
cancelEntry.set(new long[] {});
for (long hash : toCancel) {
cancel(ids.get(hash));
}
namesPub.set(names.toArray(new String[] {}));
idsPub.set(ids2);
});
}
}