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[wpilib] Remove LiveWindow (#7733)

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This will be replaced by a different mechanism, but removing it eases
the initial implementation burden of a new Telemetry/Sendable framework.
This commit is contained in:
Peter Johnson
2025-01-25 10:52:19 -08:00
committed by GitHub
parent adbe95e610
commit eee30c49e2
88 changed files with 85 additions and 1356 deletions
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101
wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
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@@ -26,7 +26,6 @@ struct Component {
std::string name;
std::string subsystem = "Ungrouped";
Sendable* parent = nullptr;
bool liveWindow = false;
wpi::SmallVector<std::shared_ptr<void>, 2> data;
void SetName(std::string_view moduleType, int channel) {
@@ -41,7 +40,6 @@ struct Component {
struct SendableRegistryInst {
wpi::recursive_mutex mutex;
std::function<std::unique_ptr<SendableBuilder>()> liveWindowFactory;
wpi::UidVector<std::unique_ptr<Component>, 32> components;
wpi::DenseMap<void*, SendableRegistry::UID> componentMap;
int nextDataHandle = 0;
@@ -85,11 +83,6 @@ void SendableRegistry::EnsureInitialized() {
GetInstance();
}
void SendableRegistry::SetLiveWindowBuilderFactory(
std::function<std::unique_ptr<SendableBuilder>()> factory) {
GetInstance().liveWindowFactory = std::move(factory);
}
void SendableRegistry::Add(Sendable* sendable, std::string_view name) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
@@ -126,58 +119,6 @@ void SendableRegistry::Add(Sendable* sendable, std::string_view subsystem,
comp.subsystem = subsystem;
}
void SendableRegistry::AddLW(Sendable* sendable, std::string_view name) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
auto& comp = inst.GetOrAdd(sendable);
comp.sendable = sendable;
if (inst.liveWindowFactory) {
comp.builder = inst.liveWindowFactory();
}
comp.liveWindow = true;
comp.name = name;
}
void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
int channel) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
auto& comp = inst.GetOrAdd(sendable);
comp.sendable = sendable;
if (inst.liveWindowFactory) {
comp.builder = inst.liveWindowFactory();
}
comp.liveWindow = true;
comp.SetName(moduleType, channel);
}
void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
int moduleNumber, int channel) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
auto& comp = inst.GetOrAdd(sendable);
comp.sendable = sendable;
if (inst.liveWindowFactory) {
comp.builder = inst.liveWindowFactory();
}
comp.liveWindow = true;
comp.SetName(moduleType, moduleNumber, channel);
}
void SendableRegistry::AddLW(Sendable* sendable, std::string_view subsystem,
std::string_view name) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
auto& comp = inst.GetOrAdd(sendable);
comp.sendable = sendable;
if (inst.liveWindowFactory) {
comp.builder = inst.liveWindowFactory();
}
comp.liveWindow = true;
comp.name = name;
comp.subsystem = subsystem;
}
void SendableRegistry::AddChild(Sendable* parent, Sendable* child) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
@@ -361,26 +302,6 @@ std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
return comp.data[handle];
}
void SendableRegistry::EnableLiveWindow(Sendable* sendable) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
auto it = inst.componentMap.find(sendable);
if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
return;
}
inst.components[it->getSecond() - 1]->liveWindow = true;
}
void SendableRegistry::DisableLiveWindow(Sendable* sendable) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
auto it = inst.componentMap.find(sendable);
if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
return;
}
inst.components[it->getSecond() - 1]->liveWindow = false;
}
SendableRegistry::UID SendableRegistry::GetUniqueId(Sendable* sendable) {
auto& inst = GetInstance();
std::scoped_lock lock(inst.mutex);
@@ -430,25 +351,3 @@ void SendableRegistry::Update(UID sendableUid) {
inst.components[sendableUid - 1]->builder->Update();
}
}
void SendableRegistry::ForeachLiveWindow(
int dataHandle, wpi::function_ref<void(CallbackData& data)> callback) {
auto& inst = GetInstance();
assert(dataHandle >= 0);
std::scoped_lock lock(inst.mutex);
wpi::SmallVector<Component*, 128> components;
for (auto&& comp : inst.components) {
components.emplace_back(comp.get());
}
for (auto comp : components) {
if (comp && comp->builder && comp->sendable && comp->liveWindow) {
if (static_cast<size_t>(dataHandle) >= comp->data.size()) {
comp->data.resize(dataHandle + 1);
}
CallbackData cbdata{comp->sendable, comp->name,
comp->subsystem, comp->parent,
comp->data[dataHandle], *comp->builder};
callback(cbdata);
}
}
}