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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
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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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package edu.wpi.first.wpilibj.livewindow;
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import java.util.Enumeration;
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import java.util.Hashtable;
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import java.util.Vector;
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import edu.wpi.first.wpilibj.command.Scheduler;
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import edu.wpi.first.wpilibj.networktables.NetworkTable;
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import edu.wpi.first.wpilibj.tables.ITable;
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/**
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* The LiveWindow class is the public interface for putting sensors and actuators on the
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* LiveWindow.
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*/
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public class LiveWindow {
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private static Vector<LiveWindowSendable> sensors = new Vector<>();
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// private static Vector actuators = new Vector();
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private static Hashtable<LiveWindowSendable, LiveWindowComponent> components = new Hashtable<>();
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private static ITable livewindowTable;
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private static ITable statusTable;
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private static boolean liveWindowEnabled = false;
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private static boolean firstTime = true;
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/**
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* Initialize all the LiveWindow elements the first time we enter LiveWindow mode. By holding off
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* creating the NetworkTable entries, it allows them to be redefined before the first time in
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* LiveWindow mode. This allows default sensor and actuator values to be created that are replaced
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* with the custom names from users calling addActuator and addSensor.
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*/
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private static void initializeLiveWindowComponents() {
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System.out.println("Initializing the components first time");
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livewindowTable = NetworkTable.getTable("LiveWindow");
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statusTable = livewindowTable.getSubTable("~STATUS~");
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for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
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LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
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LiveWindowComponent liveWindowComponent = components.get(component);
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String subsystem = liveWindowComponent.getSubsystem();
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String name = liveWindowComponent.getName();
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System.out.println("Initializing table for '" + subsystem + "' '" + name + "'");
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livewindowTable.getSubTable(subsystem).putString("~TYPE~", "LW Subsystem");
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ITable table = 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 (liveWindowComponent.isSensor()) {
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sensors.addElement(component);
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}
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}
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}
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/**
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* Set the enabled state of LiveWindow. If it's being enabled, turn off the scheduler and remove
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* all the commands from the queue and enable all the components registered for LiveWindow. If
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* it's being disabled, stop all the registered components and reenable the scheduler. TODO: add
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* code to disable PID loops when enabling LiveWindow. The commands should reenable the PID loops
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* themselves when they get rescheduled. This prevents arms from starting to move around, etc.
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* after a period of adjusting them in LiveWindow mode.
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*/
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public static void setEnabled(boolean enabled) {
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if (liveWindowEnabled != enabled) {
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if (enabled) {
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System.out.println("Starting live window mode.");
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if (firstTime) {
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initializeLiveWindowComponents();
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firstTime = false;
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}
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Scheduler.getInstance().disable();
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Scheduler.getInstance().removeAll();
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for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
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LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
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component.startLiveWindowMode();
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}
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} else {
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System.out.println("stopping live window mode.");
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for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
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LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
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component.stopLiveWindowMode();
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}
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Scheduler.getInstance().enable();
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}
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liveWindowEnabled = enabled;
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statusTable.putBoolean("LW Enabled", enabled);
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}
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}
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/**
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* The run method is called repeatedly to keep the values refreshed on the screen in test mode.
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*/
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public static void run() {
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updateValues();
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}
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/**
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* Add a Sensor associated with the subsystem and with 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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public static void addSensor(String subsystem, String name, LiveWindowSendable component) {
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components.put(component, new LiveWindowComponent(subsystem, name, true));
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}
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/**
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* Add Sensor to LiveWindow. The components are shown with the type and channel like this: Gyro[1]
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* for a gyro object connected to the first analog channel.
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*
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* @param moduleType A string indicating the type of the module used in the naming (above)
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* @param channel The channel number the device is connected to
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* @param component A reference to the object being added
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*/
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public static void addSensor(String moduleType, int channel, LiveWindowSendable component) {
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addSensor("Ungrouped", moduleType + "[" + channel + "]", component);
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if (sensors.contains(component)) {
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sensors.removeElement(component);
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}
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sensors.addElement(component);
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}
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/**
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* Add an Actuator associated with the subsystem and with 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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public static void addActuator(String subsystem, String name, LiveWindowSendable component) {
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components.put(component, new LiveWindowComponent(subsystem, name, false));
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}
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/**
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* Add Actuator to LiveWindow. The components are shown with the module type, slot and channel
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* like this: Servo[1,2] for a servo object connected to the first digital module and PWM port 2.
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*
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* @param moduleType A string that defines the module name in the label for the value
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* @param channel The channel number the device is plugged into (usually PWM)
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* @param component The reference to the object being added
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*/
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public static void addActuator(String moduleType, int channel, LiveWindowSendable component) {
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addActuator("Ungrouped", moduleType + "[" + channel + "]", component);
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}
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/**
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* Add Actuator to LiveWindow. The components are shown with the module type, slot and channel
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* like this: Servo[1,2] for a servo object connected to the first digital module and PWM port 2.
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*
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* @param moduleType A string that defines the module name in the label for the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into (usually PWM)
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* @param component The reference to the object being added
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*/
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public static void addActuator(String moduleType, int moduleNumber, int channel,
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LiveWindowSendable component) {
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addActuator("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]", component);
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}
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/**
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* Puts all sensor values on the live window.
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*/
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private static void updateValues() {
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// TODO: gross - needs to be sped up
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for (int i = 0; i < sensors.size(); i++) {
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LiveWindowSendable lws = sensors.elementAt(i);
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lws.updateTable();
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}
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// TODO: Add actuators?
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// TODO: Add better rate limiting.
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}
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}
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@@ -0,0 +1,41 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. 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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package edu.wpi.first.wpilibj.livewindow;
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/**
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* A LiveWindow component is a device (sensor or actuator) that should be added to the
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* SmartDashboard in test mode. The components are cached until the first time the robot enters Test
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* mode. This allows the components to be inserted, then renamed.
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*/
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/*
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* This class is intentionally package private.
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*/
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class LiveWindowComponent {
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String m_subsystem;
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String m_name;
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boolean m_isSensor;
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public LiveWindowComponent(String subsystem, String name, boolean isSensor) {
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m_subsystem = subsystem;
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m_name = name;
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m_isSensor = isSensor;
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}
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public String getName() {
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return m_name;
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}
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public String getSubsystem() {
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return m_subsystem;
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}
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public boolean isSensor() {
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return m_isSensor;
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}
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}
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@@ -0,0 +1,31 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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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package edu.wpi.first.wpilibj.livewindow;
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import edu.wpi.first.wpilibj.Sendable;
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/**
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* Live Window Sendable is a special type of object sendable to the live window.
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*/
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public interface LiveWindowSendable extends Sendable {
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/**
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* Update the table for this sendable object with the latest values.
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*/
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void updateTable();
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/**
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* Start having this sendable object automatically respond to value changes reflect the value on
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* the table.
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*/
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void startLiveWindowMode();
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/**
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* Stop having this sendable object automatically respond to value changes.
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*/
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void stopLiveWindowMode();
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}
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