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CommandScheduler: Don't store NetworkTableEntry

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This commit is contained in:
Peter Johnson
2020-01-10 14:53:35 -08:00
parent 6666d3be42
commit ab9647ff5b
3 changed files with 26 additions and 38 deletions
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21
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -70,11 +70,6 @@ public final class CommandScheduler implements Sendable {
private boolean m_disabled;
//NetworkTable entries for use in Sendable impl
private NetworkTableEntry m_namesEntry;
private NetworkTableEntry m_idsEntry;
private NetworkTableEntry m_cancelEntry;
//Lists of user-supplied actions to be executed on scheduling events for every command.
private final List<Consumer<Command>> m_initActions = new ArrayList<>();
private final List<Consumer<Command>> m_executeActions = new ArrayList<>();
@@ -473,12 +468,12 @@ public final class CommandScheduler implements Sendable {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Scheduler");
m_namesEntry = builder.getEntry("Names");
m_idsEntry = builder.getEntry("Ids");
m_cancelEntry = builder.getEntry("Cancel");
final NetworkTableEntry namesEntry = builder.getEntry("Names");
final NetworkTableEntry idsEntry = builder.getEntry("Ids");
final NetworkTableEntry cancelEntry = builder.getEntry("Cancel");
builder.setUpdateTable(() -> {
if (m_namesEntry == null || m_idsEntry == null || m_cancelEntry == null) {
if (namesEntry == null || idsEntry == null || cancelEntry == null) {
return;
}
@@ -489,21 +484,21 @@ public final class CommandScheduler implements Sendable {
ids.put((double) command.hashCode(), command);
}
double[] toCancel = m_cancelEntry.getDoubleArray(new double[0]);
double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
if (toCancel.length > 0) {
for (double hash : toCancel) {
cancel(ids.get(hash));
ids.remove(hash);
}
m_cancelEntry.setDoubleArray(new double[0]);
cancelEntry.setDoubleArray(new double[0]);
}
List<String> names = new ArrayList<>();
ids.values().forEach(command -> names.add(command.getName()));
m_namesEntry.setStringArray(names.toArray(new String[0]));
m_idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
namesEntry.setStringArray(names.toArray(new String[0]));
idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
});
}
}

22
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
View File

@@ -43,11 +43,6 @@ class CommandScheduler::Impl {
bool disabled{false};
// NetworkTable entries for use in Sendable impl
nt::NetworkTableEntry namesEntry;
nt::NetworkTableEntry idsEntry;
nt::NetworkTableEntry cancelEntry;
// Lists of user-supplied actions to be executed on scheduling events for
// every command.
wpi::SmallVector<Action, 4> initActions;
@@ -382,14 +377,14 @@ void CommandScheduler::OnCommandFinish(Action action) {
void CommandScheduler::InitSendable(frc::SendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
m_impl->namesEntry = builder.GetEntry("Names");
m_impl->idsEntry = builder.GetEntry("Ids");
m_impl->cancelEntry = builder.GetEntry("Cancel");
auto namesEntry = builder.GetEntry("Names");
auto idsEntry = builder.GetEntry("Ids");
auto cancelEntry = builder.GetEntry("Cancel");
builder.SetUpdateTable([this] {
builder.SetUpdateTable([=] {
double tmp[1];
tmp[0] = 0;
auto toCancel = m_impl->cancelEntry.GetDoubleArray(tmp);
auto toCancel = cancelEntry.GetDoubleArray(tmp);
for (auto cancel : toCancel) {
uintptr_t ptrTmp = static_cast<uintptr_t>(cancel);
Command* command = reinterpret_cast<Command*>(ptrTmp);
@@ -397,7 +392,8 @@ void CommandScheduler::InitSendable(frc::SendableBuilder& builder) {
m_impl->scheduledCommands.end()) {
Cancel(command);
}
m_impl->cancelEntry.SetDoubleArray(wpi::ArrayRef<double>{});
nt::NetworkTableEntry(cancelEntry)
.SetDoubleArray(wpi::ArrayRef<double>{});
}
wpi::SmallVector<std::string, 8> names;
@@ -407,8 +403,8 @@ void CommandScheduler::InitSendable(frc::SendableBuilder& builder) {
uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(command.first);
ids.emplace_back(static_cast<double>(ptrTmp));
}
m_impl->namesEntry.SetStringArray(names);
m_impl->idsEntry.SetDoubleArray(ids);
nt::NetworkTableEntry(namesEntry).SetStringArray(names);
nt::NetworkTableEntry(idsEntry).SetDoubleArray(ids);
});
}