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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
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -81,9 +81,6 @@ public final class Scheduler implements Sendable, AutoCloseable {
*/
@SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
private final Vector<Command> m_additions = new Vector<>();
private NetworkTableEntry m_namesEntry;
private NetworkTableEntry m_idsEntry;
private NetworkTableEntry m_cancelEntry;
/**
* A list of all {@link edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler Buttons}. It is
* created lazily.
@@ -319,13 +316,13 @@ public final class Scheduler implements Sendable, AutoCloseable {
@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) {
// Get the commands to cancel
double[] toCancel = m_cancelEntry.getDoubleArray(new double[0]);
double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
if (toCancel.length > 0) {
for (LinkedListElement e = m_firstCommand; e != null; e = e.getNext()) {
for (double d : toCancel) {
@@ -334,7 +331,7 @@ public final class Scheduler implements Sendable, AutoCloseable {
}
}
}
m_cancelEntry.setDoubleArray(new double[0]);
cancelEntry.setDoubleArray(new double[0]);
}
if (m_runningCommandsChanged) {
@@ -351,8 +348,8 @@ public final class Scheduler implements Sendable, AutoCloseable {
ids[number] = e.getData().hashCode();
number++;
}
m_namesEntry.setStringArray(commands);
m_idsEntry.setDoubleArray(ids);
namesEntry.setStringArray(commands);
idsEntry.setDoubleArray(ids);
}
}
});