Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

26
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
View File

@@ -8,10 +8,10 @@
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/mutex.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -25,7 +25,7 @@ struct LiveWindow::Impl {
wpi::mutex mutex;
SendableRegistry& registry;
wpi::SendableRegistry& registry;
int dataHandle;
std::shared_ptr<nt::NetworkTable> liveWindowTable;
@@ -36,20 +36,22 @@ struct LiveWindow::Impl {
bool liveWindowEnabled = false;
bool telemetryEnabled = true;
std::shared_ptr<Component> GetOrAdd(Sendable* sendable);
std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
};
LiveWindow::Impl::Impl()
: registry(SendableRegistry::GetInstance()),
: registry(wpi::SendableRegistry::GetInstance()),
dataHandle(registry.GetDataHandle()),
liveWindowTable(
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
registry.SetLiveWindowBuilderFactory(
[] { return std::make_unique<SendableBuilderImpl>(); });
statusTable = liveWindowTable->GetSubTable(".status");
enabledEntry = statusTable->GetEntry("LW Enabled");
}
std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
Sendable* sendable) {
wpi::Sendable* sendable) {
auto data = std::static_pointer_cast<Component>(
registry.GetData(sendable, dataHandle));
if (!data) {
@@ -64,14 +66,14 @@ LiveWindow* LiveWindow::GetInstance() {
return &instance;
}
void LiveWindow::EnableTelemetry(Sendable* sendable) {
void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
// Re-enable global setting in case DisableAllTelemetry() was called.
m_impl->telemetryEnabled = true;
m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
}
void LiveWindow::DisableTelemetry(Sendable* sendable) {
void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
}
@@ -108,7 +110,7 @@ void LiveWindow::SetEnabled(bool enabled) {
}
} else {
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
cbdata.builder.StopLiveWindowMode();
static_cast<SendableBuilderImpl&>(cbdata.builder).StopLiveWindowMode();
});
if (this->disabled) {
this->disabled();
@@ -160,7 +162,7 @@ void LiveWindow::UpdateValuesUnsafe() {
table = ssTable->GetSubTable(cbdata.name);
}
table->GetEntry(".name").SetString(cbdata.name);
cbdata.builder.SetTable(table);
static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
cbdata.sendable->InitSendable(cbdata.builder);
ssTable->GetEntry(".type").SetString("LW Subsystem");
@@ -168,9 +170,9 @@ void LiveWindow::UpdateValuesUnsafe() {
}
if (m_impl->startLiveWindow) {
cbdata.builder.StartLiveWindowMode();
static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
}
cbdata.builder.UpdateTable();
cbdata.builder.Update();
});
m_impl->startLiveWindow = false;