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https://github.com/wpilibsuite/allwpilib
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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
242
wpilibc/src/main/native/cpp/LiveWindow/LiveWindow.cpp
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242
wpilibc/src/main/native/cpp/LiveWindow/LiveWindow.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2012-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "LiveWindow/LiveWindow.h"
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#include <algorithm>
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#include "llvm/SmallString.h"
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#include "llvm/raw_ostream.h"
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#include "networktables/NetworkTable.h"
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using namespace frc;
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/**
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* Get an instance of the LiveWindow main class.
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*
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* This is a singleton to guarantee that there is only a single instance
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* regardless of how many times GetInstance is called.
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*/
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LiveWindow* LiveWindow::GetInstance() {
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static LiveWindow instance;
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return &instance;
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}
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/**
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* LiveWindow constructor.
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*
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* Allocate the necessary tables.
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*/
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LiveWindow::LiveWindow() : m_scheduler(Scheduler::GetInstance()) {
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m_liveWindowTable = NetworkTable::GetTable("LiveWindow");
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m_statusTable = m_liveWindowTable->GetSubTable("~STATUS~");
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}
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/**
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* Change the enabled status of LiveWindow.
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*
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* If it changes to enabled, start livewindow running otherwise stop it
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*/
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void LiveWindow::SetEnabled(bool enabled) {
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if (m_enabled == enabled) return;
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if (enabled) {
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if (m_firstTime) {
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InitializeLiveWindowComponents();
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m_firstTime = false;
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}
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m_scheduler->SetEnabled(false);
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m_scheduler->RemoveAll();
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for (auto& elem : m_components) {
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elem.first->StartLiveWindowMode();
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}
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} else {
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for (auto& elem : m_components) {
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elem.first->StopLiveWindowMode();
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}
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m_scheduler->SetEnabled(true);
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}
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m_enabled = enabled;
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m_statusTable->PutBoolean("LW Enabled", m_enabled);
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}
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/**
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* @name AddSensor(subsystem, name, component)
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*
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* Add a Sensor associated with the subsystem and call it by the given name.
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*
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* @param subsystem The subsystem this component is part of.
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* @param name The name of this component.
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* @param component A LiveWindowSendable component that represents a sensor.
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*/
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//@{
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/**
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* @brief Use a STL smart pointer to share ownership of component.
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*/
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void LiveWindow::AddSensor(const std::string& subsystem,
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const std::string& name,
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std::shared_ptr<LiveWindowSendable> component) {
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m_components[component].subsystem = subsystem;
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m_components[component].name = name;
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m_components[component].isSensor = true;
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}
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/**
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* @brief Pass a reference to LiveWindow and retain ownership of the component.
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*/
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void LiveWindow::AddSensor(const std::string& subsystem,
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const std::string& name,
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LiveWindowSendable& component) {
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AddSensor(subsystem, name, std::shared_ptr<LiveWindowSendable>(
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&component, [](LiveWindowSendable*) {}));
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}
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/**
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* @brief Use a raw pointer to the LiveWindow.
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* @deprecated Prefer smart pointers or references.
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*/
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void LiveWindow::AddSensor(const std::string& subsystem,
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const std::string& name,
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LiveWindowSendable* component) {
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AddSensor(subsystem, name, std::shared_ptr<LiveWindowSendable>(
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component, NullDeleter<LiveWindowSendable>()));
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}
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//@}
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/**
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* @name AddActuator(subsystem, name, component)
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*
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* Add an Actuator associated with the subsystem and call it by the given name.
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*
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* @param subsystem The subsystem this component is part of.
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* @param name The name of this component.
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* @param component A LiveWindowSendable component that represents a actuator.
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*/
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//@{
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/**
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* @brief Use a STL smart pointer to share ownership of component.
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*/
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void LiveWindow::AddActuator(const std::string& subsystem,
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const std::string& name,
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std::shared_ptr<LiveWindowSendable> component) {
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m_components[component].subsystem = subsystem;
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m_components[component].name = name;
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m_components[component].isSensor = false;
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}
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/**
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* @brief Pass a reference to LiveWindow and retain ownership of the component.
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*/
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void LiveWindow::AddActuator(const std::string& subsystem,
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const std::string& name,
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LiveWindowSendable& component) {
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AddActuator(subsystem, name, std::shared_ptr<LiveWindowSendable>(
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&component, [](LiveWindowSendable*) {}));
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}
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/**
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* @brief Use a raw pointer to the LiveWindow.
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* @deprecated Prefer smart pointers or references.
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*/
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void LiveWindow::AddActuator(const std::string& subsystem,
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const std::string& name,
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LiveWindowSendable* component) {
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AddActuator(subsystem, name,
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std::shared_ptr<LiveWindowSendable>(
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component, NullDeleter<LiveWindowSendable>()));
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}
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//@}
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/**
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* Meant for internal use in other WPILib classes.
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*/
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void LiveWindow::AddSensor(std::string type, int channel,
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LiveWindowSendable* component) {
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llvm::SmallString<128> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << type << "[" << channel << "]";
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AddSensor("Ungrouped", oss.str(), component);
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std::shared_ptr<LiveWindowSendable> component_stl(
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component, NullDeleter<LiveWindowSendable>());
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if (std::find(m_sensors.begin(), m_sensors.end(), component_stl) ==
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m_sensors.end())
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m_sensors.push_back(component_stl);
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}
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/**
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* Meant for internal use in other WPILib classes.
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*/
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void LiveWindow::AddActuator(std::string type, int channel,
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LiveWindowSendable* component) {
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llvm::SmallString<128> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << type << "[" << channel << "]";
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AddActuator("Ungrouped", oss.str(),
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std::shared_ptr<LiveWindowSendable>(component,
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[](LiveWindowSendable*) {}));
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}
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/**
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* Meant for internal use in other WPILib classes.
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*/
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void LiveWindow::AddActuator(std::string type, int module, int channel,
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LiveWindowSendable* component) {
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llvm::SmallString<128> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << type << "[" << module << "," << channel << "]";
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AddActuator("Ungrouped", oss.str(),
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std::shared_ptr<LiveWindowSendable>(component,
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[](LiveWindowSendable*) {}));
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}
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/**
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* Tell all the sensors to update (send) their values.
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*
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* Actuators are handled through callbacks on their value changing from the
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* SmartDashboard widgets.
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*/
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void LiveWindow::UpdateValues() {
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for (auto& elem : m_sensors) {
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elem->UpdateTable();
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}
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}
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/**
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* This method is called periodically to cause the sensors to send new values
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* to the SmartDashboard.
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*/
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void LiveWindow::Run() {
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if (m_enabled) {
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UpdateValues();
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}
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}
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/**
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* Initialize all the LiveWindow elements the first time we enter LiveWindow
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* mode. By holding off creating the NetworkTable entries, it allows them to be
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* redefined before the first time in LiveWindow mode. This allows default
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* sensor and actuator values to be created that are replaced with the custom
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* names from users calling addActuator and addSensor.
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*/
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void LiveWindow::InitializeLiveWindowComponents() {
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for (auto& elem : m_components) {
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std::shared_ptr<LiveWindowSendable> component = elem.first;
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LiveWindowComponent c = elem.second;
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std::string subsystem = c.subsystem;
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std::string name = c.name;
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m_liveWindowTable->GetSubTable(subsystem)->PutString("~TYPE~",
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"LW Subsystem");
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std::shared_ptr<ITable> table(
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m_liveWindowTable->GetSubTable(subsystem)->GetSubTable(name));
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table->PutString("~TYPE~", component->GetSmartDashboardType());
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table->PutString("Name", name);
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table->PutString("Subsystem", subsystem);
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component->InitTable(table);
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if (c.isSensor) {
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m_sensors.push_back(component);
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}
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}
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}
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