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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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27
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
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@@ -9,9 +9,10 @@
#include <networktables/NetworkTableInstance.h>
#include <wpi/StringMap.h>
#include <wpi/mutex.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
using namespace frc;
@@ -21,7 +22,7 @@ class Singleton {
static Singleton& GetInstance();
std::shared_ptr<nt::NetworkTable> table;
wpi::StringMap<SendableRegistry::UID> tablesToData;
wpi::StringMap<wpi::SendableRegistry::UID> tablesToData;
wpi::mutex tablesToDataMutex;
private:
@@ -84,41 +85,45 @@ nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
return Singleton::GetInstance().table->GetEntry(key);
}
void SmartDashboard::PutData(std::string_view key, Sendable* data) {
void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
if (!data) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
}
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto& uid = inst.tablesToData[key];
auto& registry = SendableRegistry::GetInstance();
Sendable* sddata = registry.GetSendable(uid);
auto& registry = wpi::SendableRegistry::GetInstance();
wpi::Sendable* sddata = registry.GetSendable(uid);
if (sddata != data) {
uid = registry.GetUniqueId(data);
auto dataTable = inst.table->GetSubTable(key);
registry.Publish(uid, dataTable);
auto builder = std::make_unique<SendableBuilderImpl>();
auto builderPtr = builder.get();
builderPtr->SetTable(dataTable);
registry.Publish(uid, std::move(builder));
builderPtr->StartListeners();
dataTable->GetEntry(".name").SetString(key);
}
}
void SmartDashboard::PutData(Sendable* value) {
void SmartDashboard::PutData(wpi::Sendable* value) {
if (!value) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
}
auto name = SendableRegistry::GetInstance().GetName(value);
auto name = wpi::SendableRegistry::GetInstance().GetName(value);
if (!name.empty()) {
PutData(name, value);
}
}
Sendable* SmartDashboard::GetData(std::string_view key) {
wpi::Sendable* SmartDashboard::GetData(std::string_view key) {
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto it = inst.tablesToData.find(key);
if (it == inst.tablesToData.end()) {
throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
}
return SendableRegistry::GetInstance().GetSendable(it->getValue());
return wpi::SendableRegistry::GetInstance().GetSendable(it->getValue());
}
bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
@@ -257,7 +262,7 @@ void SmartDashboard::PostListenerTask(std::function<void()> task) {
}
void SmartDashboard::UpdateValues() {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
auto& inst = Singleton::GetInstance();
listenerExecutor.RunListenerTasks();
std::scoped_lock lock(inst.tablesToDataMutex);