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Add callback handlers for LiveWindow (#2053)

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Fixes #2223
This commit is contained in:
Thad House
2020-01-12 22:37:24 -08:00
committed by Peter Johnson
parent 73302f6162
commit cb66bcca3c
7 changed files with 75 additions and 3 deletions
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17
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -24,6 +24,7 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.RobotState;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
@@ -35,7 +36,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
* Subsystem#periodic()} methods to be called and for their default commands to be scheduled.
*/
@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods", "PMD.TooManyFields"})
public final class CommandScheduler implements Sendable {
public final class CommandScheduler implements Sendable, AutoCloseable {
/**
* The Singleton Instance.
*/
@@ -86,6 +87,20 @@ public final class CommandScheduler implements Sendable {
CommandScheduler() {
HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand2_Scheduler);
SendableRegistry.addLW(this, "Scheduler");
LiveWindow.setEnabledListener(() -> {
disable();
cancelAll();
});
LiveWindow.setDisabledListener(() -> {
enable();
});
}
@Override
public void close() {
SendableRegistry.remove(this);
LiveWindow.setEnabledListener(null);
LiveWindow.setDisabledListener(null);
}
/**

14
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -9,6 +9,7 @@
#include <frc/RobotState.h>
#include <frc/WPIErrors.h>
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <hal/FRCUsageReporting.h>
@@ -67,9 +68,20 @@ CommandScheduler::CommandScheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand2_Scheduler);
frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] {
this->Disable();
this->CancelAll();
};
scheduler->disabled = [this] { this->Enable(); };
}
CommandScheduler::~CommandScheduler() {}
CommandScheduler::~CommandScheduler() {
frc::SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr;
scheduler->disabled = nullptr;
}
CommandScheduler& CommandScheduler::GetInstance() {
static CommandScheduler scheduler;