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[wpilibc] Return reference from GetInstance (#3247)

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Improves consistency across all classes.

Affects Preferences, LiveWindow, and CameraServer.

Old commands Scheduler::GetInstance() was not updated as this is already
deprecated.
This commit is contained in:
Peter Johnson
2021-03-21 11:13:49 -07:00
committed by GitHub
parent 9550777b9d
commit a79faace1b
18 changed files with 67 additions and 64 deletions
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2
cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
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@@ -158,7 +158,7 @@ bool ReadConfig() {
void StartCamera(const CameraConfig& config) { void StartCamera(const CameraConfig& config) {
wpi::outs() << "Starting camera '" << config.name << "' on " << config.path wpi::outs() << "Starting camera '" << config.name << "' on " << config.path
<< '\n'; << '\n';
auto camera = frc::CameraServer::GetInstance()->StartAutomaticCapture( auto camera = frc::CameraServer::GetInstance().StartAutomaticCapture(
config.name, config.path); config.name, config.path);
camera.SetConfigJson(config.config); camera.SetConfigJson(config.config);

4
cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
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@@ -45,7 +45,7 @@ struct CameraServer::Impl {
std::vector<std::string> m_addresses; std::vector<std::string> m_addresses;
}; };
CameraServer* CameraServer::GetInstance() { CameraServer& CameraServer::GetInstance() {
struct Creator { struct Creator {
static void* call() { return new CameraServer{}; } static void* call() { return new CameraServer{}; }
}; };
@@ -53,7 +53,7 @@ CameraServer* CameraServer::GetInstance() {
static void call(void* ptr) { delete static_cast<CameraServer*>(ptr); } static void call(void* ptr) { delete static_cast<CameraServer*>(ptr); }
}; };
static wpi::ManagedStatic<CameraServer, Creator, Deleter> instance; static wpi::ManagedStatic<CameraServer, Creator, Deleter> instance;
return &(*instance); return *instance;
} }
static wpi::StringRef MakeSourceValue(CS_Source source, static wpi::StringRef MakeSourceValue(CS_Source source,

2
cameraserver/src/main/native/include/cameraserver/CameraServer.h
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@@ -32,7 +32,7 @@ class CameraServer {
/** /**
* Get the CameraServer instance. * Get the CameraServer instance.
*/ */
static CameraServer* GetInstance(); static CameraServer& GetInstance();
/** /**
* Start automatically capturing images to send to the dashboard. * Start automatically capturing images to send to the dashboard.

16
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -71,19 +71,19 @@ CommandScheduler::CommandScheduler()
HAL_Report(HALUsageReporting::kResourceType_Command, HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand2_Scheduler); HALUsageReporting::kCommand2_Scheduler);
frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler"); frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance(); auto& scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] { scheduler.enabled = [this] {
this->Disable(); Disable();
this->CancelAll(); CancelAll();
}; };
scheduler->disabled = [this] { this->Enable(); }; scheduler.disabled = [this] { Enable(); };
} }
CommandScheduler::~CommandScheduler() { CommandScheduler::~CommandScheduler() {
frc::SendableRegistry::GetInstance().Remove(this); frc::SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance(); auto& scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr; scheduler.enabled = nullptr;
scheduler->disabled = nullptr; scheduler.disabled = nullptr;
std::unique_ptr<Impl>().swap(m_impl); std::unique_ptr<Impl>().swap(m_impl);
} }

16
wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
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@@ -203,19 +203,19 @@ Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command, HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler); HALUsageReporting::kCommand_Scheduler);
SendableRegistry::GetInstance().AddLW(this, "Scheduler"); SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance(); auto& scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] { scheduler.enabled = [this] {
this->SetEnabled(false); SetEnabled(false);
this->RemoveAll(); RemoveAll();
}; };
scheduler->disabled = [this] { this->SetEnabled(true); }; scheduler.disabled = [this] { SetEnabled(true); };
} }
Scheduler::~Scheduler() { Scheduler::~Scheduler() {
SendableRegistry::GetInstance().Remove(this); SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance(); auto& scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr; scheduler.enabled = nullptr;
scheduler->disabled = nullptr; scheduler.disabled = nullptr;
} }
void Scheduler::Impl::Remove(Command* command) { void Scheduler::Impl::Remove(Command* command) {

10
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -108,7 +108,7 @@ void IterativeRobotBase::LoopFunc() {
// Call DisabledInit() if we are now just entering disabled mode from // Call DisabledInit() if we are now just entering disabled mode from
// either a different mode or from power-on. // either a different mode or from power-on.
if (m_lastMode != Mode::kDisabled) { if (m_lastMode != Mode::kDisabled) {
LiveWindow::GetInstance()->SetEnabled(false); LiveWindow::GetInstance().SetEnabled(false);
Shuffleboard::DisableActuatorWidgets(); Shuffleboard::DisableActuatorWidgets();
DisabledInit(); DisabledInit();
m_watchdog.AddEpoch("DisabledInit()"); m_watchdog.AddEpoch("DisabledInit()");
@@ -122,7 +122,7 @@ void IterativeRobotBase::LoopFunc() {
// Call AutonomousInit() if we are now just entering autonomous mode from // Call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on. // either a different mode or from power-on.
if (m_lastMode != Mode::kAutonomous) { if (m_lastMode != Mode::kAutonomous) {
LiveWindow::GetInstance()->SetEnabled(false); LiveWindow::GetInstance().SetEnabled(false);
Shuffleboard::DisableActuatorWidgets(); Shuffleboard::DisableActuatorWidgets();
AutonomousInit(); AutonomousInit();
m_watchdog.AddEpoch("AutonomousInit()"); m_watchdog.AddEpoch("AutonomousInit()");
@@ -136,7 +136,7 @@ void IterativeRobotBase::LoopFunc() {
// Call TeleopInit() if we are now just entering teleop mode from // Call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on. // either a different mode or from power-on.
if (m_lastMode != Mode::kTeleop) { if (m_lastMode != Mode::kTeleop) {
LiveWindow::GetInstance()->SetEnabled(false); LiveWindow::GetInstance().SetEnabled(false);
Shuffleboard::DisableActuatorWidgets(); Shuffleboard::DisableActuatorWidgets();
TeleopInit(); TeleopInit();
m_watchdog.AddEpoch("TeleopInit()"); m_watchdog.AddEpoch("TeleopInit()");
@@ -150,7 +150,7 @@ void IterativeRobotBase::LoopFunc() {
// Call TestInit() if we are now just entering test mode from // Call TestInit() if we are now just entering test mode from
// either a different mode or from power-on. // either a different mode or from power-on.
if (m_lastMode != Mode::kTest) { if (m_lastMode != Mode::kTest) {
LiveWindow::GetInstance()->SetEnabled(true); LiveWindow::GetInstance().SetEnabled(true);
Shuffleboard::EnableActuatorWidgets(); Shuffleboard::EnableActuatorWidgets();
TestInit(); TestInit();
m_watchdog.AddEpoch("TestInit()"); m_watchdog.AddEpoch("TestInit()");
@@ -167,7 +167,7 @@ void IterativeRobotBase::LoopFunc() {
SmartDashboard::UpdateValues(); SmartDashboard::UpdateValues();
m_watchdog.AddEpoch("SmartDashboard::UpdateValues()"); m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
LiveWindow::GetInstance()->UpdateValues(); LiveWindow::GetInstance().UpdateValues();
m_watchdog.AddEpoch("LiveWindow::UpdateValues()"); m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
Shuffleboard::Update(); Shuffleboard::Update();
m_watchdog.AddEpoch("Shuffleboard::Update()"); m_watchdog.AddEpoch("Shuffleboard::Update()");

6
wpilibc/src/main/native/cpp/Preferences.cpp
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@@ -17,9 +17,9 @@ using namespace frc;
// The Preferences table name // The Preferences table name
static wpi::StringRef kTableName{"Preferences"}; static wpi::StringRef kTableName{"Preferences"};
Preferences* Preferences::GetInstance() { Preferences& Preferences::GetInstance() {
static Preferences instance; static Preferences instance;
return &instance; return instance;
} }
std::vector<std::string> Preferences::GetKeys() { std::vector<std::string> Preferences::GetKeys() {
@@ -143,3 +143,5 @@ Preferences::Preferences()
NT_NOTIFY_NEW | NT_NOTIFY_IMMEDIATE); NT_NOTIFY_NEW | NT_NOTIFY_IMMEDIATE);
HAL_Report(HALUsageReporting::kResourceType_Preferences, 0); HAL_Report(HALUsageReporting::kResourceType_Preferences, 0);
} }
Preferences::~Preferences() = default;

4
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
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@@ -61,9 +61,9 @@ std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
return data; return data;
} }
LiveWindow* LiveWindow::GetInstance() { LiveWindow& LiveWindow::GetInstance() {
static LiveWindow instance; static LiveWindow instance;
return &instance; return instance;
} }
void LiveWindow::EnableTelemetry(Sendable* sendable) { void LiveWindow::EnableTelemetry(Sendable* sendable) {

2
wpilibc/src/main/native/cppcs/RobotBase.cpp
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@@ -214,7 +214,7 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
->GetEntry("LW Enabled") ->GetEntry("LW Enabled")
.SetBoolean(false); .SetBoolean(false);
LiveWindow::GetInstance()->SetEnabled(false); LiveWindow::GetInstance().SetEnabled(false);
} }
RobotBase::RobotBase(RobotBase&&) noexcept RobotBase::RobotBase(RobotBase&&) noexcept

6
wpilibc/src/main/native/include/frc/Preferences.h
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@@ -35,9 +35,9 @@ class Preferences : public ErrorBase {
/** /**
* Get the one and only {@link Preferences} object. * Get the one and only {@link Preferences} object.
* *
* @return pointer to the {@link Preferences} * @return reference to the {@link Preferences}
*/ */
static Preferences* GetInstance(); static Preferences& GetInstance();
/** /**
* Returns a vector of all the keys. * Returns a vector of all the keys.
@@ -226,7 +226,7 @@ class Preferences : public ErrorBase {
protected: protected:
Preferences(); Preferences();
~Preferences() override = default; ~Preferences() override;
Preferences(Preferences&&) = default; Preferences(Preferences&&) = default;
Preferences& operator=(Preferences&&) = default; Preferences& operator=(Preferences&&) = default;

3
wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
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@@ -29,7 +29,7 @@ class LiveWindow {
* This is a singleton to guarantee that there is only a single instance * This is a singleton to guarantee that there is only a single instance
* regardless of how many times GetInstance is called. * regardless of how many times GetInstance is called.
*/ */
static LiveWindow* GetInstance(); static LiveWindow& GetInstance();
/** /**
* Enable telemetry for a single component. * Enable telemetry for a single component.
@@ -69,6 +69,7 @@ class LiveWindow {
private: private:
LiveWindow(); LiveWindow();
~LiveWindow() = default;
struct Impl; struct Impl;
std::unique_ptr<Impl> m_impl; std::unique_ptr<Impl> m_impl;

6
wpilibcExamples/src/main/cpp/examples/AxisCameraSample/cpp/Robot.cpp
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@@ -19,15 +19,15 @@ class Robot : public frc::TimedRobot {
static void VisionThread() { static void VisionThread() {
// Get the Axis camera from CameraServer // Get the Axis camera from CameraServer
cs::AxisCamera camera = cs::AxisCamera camera =
frc::CameraServer::GetInstance()->AddAxisCamera("axis-camera.local"); frc::CameraServer::GetInstance().AddAxisCamera("axis-camera.local");
// Set the resolution // Set the resolution
camera.SetResolution(640, 480); camera.SetResolution(640, 480);
// Get a CvSink. This will capture Mats from the Camera // Get a CvSink. This will capture Mats from the Camera
cs::CvSink cvSink = frc::CameraServer::GetInstance()->GetVideo(); cs::CvSink cvSink = frc::CameraServer::GetInstance().GetVideo();
// Setup a CvSource. This will send images back to the Dashboard // Setup a CvSource. This will send images back to the Dashboard
cs::CvSource outputStream = cs::CvSource outputStream =
frc::CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480); frc::CameraServer::GetInstance().PutVideo("Rectangle", 640, 480);
// Mats are very memory expensive. Lets reuse this Mat. // Mats are very memory expensive. Lets reuse this Mat.
cv::Mat mat; cv::Mat mat;

2
wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
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@@ -50,7 +50,7 @@ class Robot : public frc::TimedRobot {
frc::DifferentialDrive m_robotDrive{m_left, m_right}; frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::Joystick m_stick{0}; frc::Joystick m_stick{0};
frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance(); frc::LiveWindow& m_lw = frc::LiveWindow::GetInstance();
frc::Timer m_timer; frc::Timer m_timer;
}; };

6
wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
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@@ -24,15 +24,15 @@ class Robot : public frc::TimedRobot {
static void VisionThread() { static void VisionThread() {
// Get the USB camera from CameraServer // Get the USB camera from CameraServer
cs::UsbCamera camera = cs::UsbCamera camera =
frc::CameraServer::GetInstance()->StartAutomaticCapture(); frc::CameraServer::GetInstance().StartAutomaticCapture();
// Set the resolution // Set the resolution
camera.SetResolution(640, 480); camera.SetResolution(640, 480);
// Get a CvSink. This will capture Mats from the Camera // Get a CvSink. This will capture Mats from the Camera
cs::CvSink cvSink = frc::CameraServer::GetInstance()->GetVideo(); cs::CvSink cvSink = frc::CameraServer::GetInstance().GetVideo();
// Setup a CvSource. This will send images back to the Dashboard // Setup a CvSource. This will send images back to the Dashboard
cs::CvSource outputStream = cs::CvSource outputStream =
frc::CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480); frc::CameraServer::GetInstance().PutVideo("Rectangle", 640, 480);
// Mats are very memory expensive. Lets reuse this Mat. // Mats are very memory expensive. Lets reuse this Mat.
cv::Mat mat; cv::Mat mat;

2
wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
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@@ -16,7 +16,7 @@ class Robot : public frc::TimedRobot {
public: public:
void RobotInit() override { void RobotInit() override {
#if defined(__linux__) #if defined(__linux__)
frc::CameraServer::GetInstance()->StartAutomaticCapture(); frc::CameraServer::GetInstance().StartAutomaticCapture();
#else #else
wpi::errs() << "Vision only available on Linux.\n"; wpi::errs() << "Vision only available on Linux.\n";
wpi::errs().flush(); wpi::errs().flush();

2
wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
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@@ -21,7 +21,7 @@ void Robot::Teleop() {}
void Robot::Test() {} void Robot::Test() {}
void Robot::StartCompetition() { void Robot::StartCompetition() {
auto& lw = *frc::LiveWindow::GetInstance(); auto& lw = frc::LiveWindow::GetInstance();
RobotInit(); RobotInit();

40
wpilibcIntegrationTests/src/main/native/cpp/PreferencesTest.cpp
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@@ -44,14 +44,14 @@ TEST(PreferencesTest, ReadPreferencesFromFile) {
preferencesFile.close(); preferencesFile.close();
inst.StartServer(); inst.StartServer();
Preferences* preferences = Preferences::GetInstance(); Preferences& preferences = Preferences::GetInstance();
EXPECT_EQ("Hello, preferences file", EXPECT_EQ("Hello, preferences file",
preferences->GetString("testFileGetString")); preferences.GetString("testFileGetString"));
EXPECT_EQ(1, preferences->GetInt("testFileGetInt")); EXPECT_EQ(1, preferences.GetInt("testFileGetInt"));
EXPECT_FLOAT_EQ(0.5, preferences->GetDouble("testFileGetDouble")); EXPECT_FLOAT_EQ(0.5, preferences.GetDouble("testFileGetDouble"));
EXPECT_FLOAT_EQ(0.25f, preferences->GetFloat("testFileGetFloat")); EXPECT_FLOAT_EQ(0.25f, preferences.GetFloat("testFileGetFloat"));
EXPECT_TRUE(preferences->GetBoolean("testFileGetBoolean")); EXPECT_TRUE(preferences.GetBoolean("testFileGetBoolean"));
EXPECT_EQ(1000000000000000000ll, preferences->GetLong("testFileGetLong")); EXPECT_EQ(1000000000000000000ll, preferences.GetLong("testFileGetLong"));
} }
/** /**
@@ -61,22 +61,22 @@ TEST(PreferencesTest, ReadPreferencesFromFile) {
TEST(PreferencesTest, WritePreferencesToFile) { TEST(PreferencesTest, WritePreferencesToFile) {
auto inst = nt::NetworkTableInstance::GetDefault(); auto inst = nt::NetworkTableInstance::GetDefault();
inst.StartServer(); inst.StartServer();
Preferences* preferences = Preferences::GetInstance(); Preferences& preferences = Preferences::GetInstance();
preferences->Remove("testFileGetString"); preferences.Remove("testFileGetString");
preferences->Remove("testFileGetInt"); preferences.Remove("testFileGetInt");
preferences->Remove("testFileGetDouble"); preferences.Remove("testFileGetDouble");
preferences->Remove("testFileGetFloat"); preferences.Remove("testFileGetFloat");
preferences->Remove("testFileGetBoolean"); preferences.Remove("testFileGetBoolean");
preferences->Remove("testFileGetLong"); preferences.Remove("testFileGetLong");
Wait(kSaveTime); Wait(kSaveTime);
preferences->PutString("testFilePutString", "Hello, preferences file"); preferences.PutString("testFilePutString", "Hello, preferences file");
preferences->PutInt("testFilePutInt", 1); preferences.PutInt("testFilePutInt", 1);
preferences->PutDouble("testFilePutDouble", 0.5); preferences.PutDouble("testFilePutDouble", 0.5);
preferences->PutFloat("testFilePutFloat", 0.25f); preferences.PutFloat("testFilePutFloat", 0.25f);
preferences->PutBoolean("testFilePutBoolean", true); preferences.PutBoolean("testFilePutBoolean", true);
preferences->PutLong("testFilePutLong", 1000000000000000000ll); preferences.PutLong("testFilePutLong", 1000000000000000000ll);
Wait(kSaveTime); Wait(kSaveTime);

2
wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
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@@ -40,7 +40,7 @@ class TestEnvironment : public testing::Environment {
station returns that the robot is enabled, to ensure that tests station returns that the robot is enabled, to ensure that tests
will be able to run on the hardware. */ will be able to run on the hardware. */
HAL_ObserveUserProgramStarting(); HAL_ObserveUserProgramStarting();
LiveWindow::GetInstance()->SetEnabled(false); LiveWindow::GetInstance().SetEnabled(false);
wpi::outs() << "Started coms\n"; wpi::outs() << "Started coms\n";