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Split Sendable into NT and non-NT portions (#3432)

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The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).

SendableBuilder similarly split and moved.

SendableRegistry moved to wpiutil.

In C++, SendableHelper also moved to wpiutil.

This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
This commit is contained in:
Peter Johnson
2021-06-13 16:38:05 -07:00
committed by GitHub
parent ef4ea84cb5
commit b417d961ec
196 changed files with 1147 additions and 891 deletions
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22
wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
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@@ -6,14 +6,15 @@
#include <typeinfo>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/RobotState.h"
#include "frc/Timer.h"
#include "frc/commands/CommandGroup.h"
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -40,10 +41,10 @@ Command::Command(std::string_view name, units::second_t timeout) {
// If name contains an empty string
if (name.empty()) {
SendableRegistry::GetInstance().Add(
wpi::SendableRegistry::GetInstance().Add(
this, fmt::format("Command_{}", typeid(*this).name()));
} else {
SendableRegistry::GetInstance().Add(this, name);
wpi::SendableRegistry::GetInstance().Add(this, name);
}
}
@@ -277,25 +278,26 @@ void Command::StartTiming() {
}
std::string Command::GetName() const {
return SendableRegistry::GetInstance().GetName(this);
return wpi::SendableRegistry::GetInstance().GetName(this);
}
void Command::SetName(std::string_view name) {
SendableRegistry::GetInstance().SetName(this, name);
wpi::SendableRegistry::GetInstance().SetName(this, name);
}
std::string Command::GetSubsystem() const {
return SendableRegistry::GetInstance().GetSubsystem(this);
return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
}
void Command::SetSubsystem(std::string_view name) {
SendableRegistry::GetInstance().SetSubsystem(this, name);
wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void Command::InitSendable(SendableBuilder& builder) {
void Command::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
builder.AddStringProperty(
".name", [=] { return SendableRegistry::GetInstance().GetName(this); },
".name",
[=] { return wpi::SendableRegistry::GetInstance().GetName(this); },
nullptr);
builder.AddBooleanProperty(
"running", [=] { return IsRunning(); },

4
wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp
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@@ -4,7 +4,7 @@
#include "frc/commands/PIDCommand.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include <wpi/sendable/SendableBuilder.h>
using namespace frc;
@@ -112,7 +112,7 @@ double PIDCommand::GetPosition() {
return ReturnPIDInput();
}
void PIDCommand::InitSendable(SendableBuilder& builder) {
void PIDCommand::InitSendable(wpi::SendableBuilder& builder) {
m_controller->InitSendable(builder);
Command::InitSendable(builder);
builder.SetSmartDashboardType("PIDCommand");

12
wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
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@@ -10,16 +10,16 @@
#include <vector>
#include <hal/FRCUsageReporting.h>
#include <networktables/NTSendableBuilder.h>
#include <networktables/NetworkTableEntry.h>
#include <wpi/mutex.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/buttons/ButtonScheduler.h"
#include "frc/commands/Command.h"
#include "frc/commands/Subsystem.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -157,7 +157,7 @@ void Scheduler::SetEnabled(bool enabled) {
m_impl->enabled = enabled;
}
void Scheduler::InitSendable(SendableBuilder& builder) {
void Scheduler::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
auto namesEntry = builder.GetEntry("Names");
auto idsEntry = builder.GetEntry("Ids");
@@ -186,7 +186,7 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
if (m_impl->runningCommandsChanged) {
m_impl->commandsBuf.resize(0);
m_impl->idsBuf.resize(0);
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
for (const auto& command : m_impl->commands) {
m_impl->commandsBuf.emplace_back(registry.GetName(command));
m_impl->idsBuf.emplace_back(command->GetID());
@@ -200,7 +200,7 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
SendableRegistry::GetInstance().AddLW(this, "Scheduler");
wpi::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] {
this->SetEnabled(false);
@@ -210,7 +210,7 @@ Scheduler::Scheduler() : m_impl(new Impl) {
}
Scheduler::~Scheduler() {
SendableRegistry::GetInstance().Remove(this);
wpi::SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr;
scheduler->disabled = nullptr;

35
wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
View File

@@ -4,17 +4,18 @@
#include "frc/commands/Subsystem.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/commands/Command.h"
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Subsystem::Subsystem(std::string_view name) {
SendableRegistry::GetInstance().AddLW(this, name, name);
wpi::SendableRegistry::GetInstance().AddLW(this, name, name);
Scheduler::GetInstance()->RegisterSubsystem(this);
}
@@ -43,7 +44,7 @@ Command* Subsystem::GetDefaultCommand() {
std::string Subsystem::GetDefaultCommandName() {
Command* defaultCommand = GetDefaultCommand();
if (defaultCommand) {
return SendableRegistry::GetInstance().GetName(defaultCommand);
return wpi::SendableRegistry::GetInstance().GetName(defaultCommand);
} else {
return {};
}
@@ -61,7 +62,7 @@ Command* Subsystem::GetCurrentCommand() const {
std::string Subsystem::GetCurrentCommandName() const {
Command* currentCommand = GetCurrentCommand();
if (currentCommand) {
return SendableRegistry::GetInstance().GetName(currentCommand);
return wpi::SendableRegistry::GetInstance().GetName(currentCommand);
} else {
return {};
}
@@ -72,19 +73,19 @@ void Subsystem::Periodic() {}
void Subsystem::InitDefaultCommand() {}
std::string Subsystem::GetName() const {
return SendableRegistry::GetInstance().GetName(this);
return wpi::SendableRegistry::GetInstance().GetName(this);
}
void Subsystem::SetName(std::string_view name) {
SendableRegistry::GetInstance().SetName(this, name);
wpi::SendableRegistry::GetInstance().SetName(this, name);
}
std::string Subsystem::GetSubsystem() const {
return SendableRegistry::GetInstance().GetSubsystem(this);
return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
}
void Subsystem::SetSubsystem(std::string_view name) {
SendableRegistry::GetInstance().SetSubsystem(this, name);
wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void Subsystem::AddChild(std::string_view name,
@@ -92,25 +93,25 @@ void Subsystem::AddChild(std::string_view name,
AddChild(name, *child);
}
void Subsystem::AddChild(std::string_view name, Sendable* child) {
void Subsystem::AddChild(std::string_view name, wpi::Sendable* child) {
AddChild(name, *child);
}
void Subsystem::AddChild(std::string_view name, Sendable& child) {
auto& registry = SendableRegistry::GetInstance();
void Subsystem::AddChild(std::string_view name, wpi::Sendable& child) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddLW(&child, registry.GetSubsystem(this), name);
}
void Subsystem::AddChild(std::shared_ptr<Sendable> child) {
void Subsystem::AddChild(std::shared_ptr<wpi::Sendable> child) {
AddChild(*child);
}
void Subsystem::AddChild(Sendable* child) {
void Subsystem::AddChild(wpi::Sendable* child) {
AddChild(*child);
}
void Subsystem::AddChild(Sendable& child) {
auto& registry = SendableRegistry::GetInstance();
void Subsystem::AddChild(wpi::Sendable& child) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.SetSubsystem(&child, registry.GetSubsystem(this));
registry.EnableLiveWindow(&child);
}
@@ -121,7 +122,7 @@ void Subsystem::ConfirmCommand() {
}
}
void Subsystem::InitSendable(SendableBuilder& builder) {
void Subsystem::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Subsystem");
builder.AddBooleanProperty(