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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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54
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -13,10 +13,10 @@
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <networktables/IntegerArrayTopic.h>
#include <networktables/NTSendableBuilder.h>
#include <networktables/StringArrayTopic.h>
#include <wpi/DenseMap.h>
#include <wpi/SmallVector.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc2/command/CommandPtr.h"
@@ -454,36 +454,40 @@ void CommandScheduler::RequireUngrouped(
}
}
void CommandScheduler::InitSendable(nt::NTSendableBuilder& builder) {
void CommandScheduler::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
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({});
}
wpi::SmallVector<std::string, 8> names;
wpi::SmallVector<int64_t, 8> ids;
builder.AddStringArrayProperty(
"Names",
[this]() mutable {
std::vector<std::string> names;
for (Command* command : m_impl->scheduledCommands) {
names.emplace_back(command->GetName());
}
return names;
},
nullptr);
builder.AddIntegerArrayProperty(
"Ids",
[this]() mutable {
std::vector<int64_t> ids;
for (Command* command : m_impl->scheduledCommands) {
uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(command);
ids.emplace_back(static_cast<int64_t>(ptrTmp));
}
namesPub.Set(names);
idsPub.Set(ids);
return ids;
},
nullptr);
builder.AddIntegerArrayProperty(
"Cancel", []() { return std::vector<int64_t>{}; },
[this](std::span<const int64_t> toCancel) mutable {
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);
}
}
});
}

6
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
View File

@@ -14,9 +14,9 @@
#include <frc/Errors.h>
#include <frc/Watchdog.h>
#include <frc/event/EventLoop.h>
#include <networktables/NTSendable.h>
#include <units/time.h>
#include <wpi/FunctionExtras.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc2 {
@@ -33,7 +33,7 @@ class Subsystem;
*
* This class is provided by the NewCommands VendorDep
*/
class CommandScheduler final : public nt::NTSendable,
class CommandScheduler final : public wpi::Sendable,
public wpi::SendableHelper<CommandScheduler> {
public:
/**
@@ -388,7 +388,7 @@ class CommandScheduler final : public nt::NTSendable,
*/
void RequireUngrouped(std::initializer_list<const Command*> commands);
void InitSendable(nt::NTSendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
// Constructor; private as this is a singleton