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[wpilib] Remove LiveWindow (#7733)

Browse Source 
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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5
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LogBackedSendableBuilder.java
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@@ -43,11 +43,6 @@ public class LogBackedSendableBuilder implements SendableBuilder {
// ignore
}
@Override
public void setSafeState(Runnable func) {
// ignore
}
@Override
public void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter) {
m_updates.add(() -> m_backend.log(key, getter.getAsBoolean()));

2
gradle.properties
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@@ -1,2 +1,2 @@
org.gradle.jvmargs=-Xmx2g
org.gradle.jvmargs=-Xmx4g
org.ysb33r.gradle.doxygen.download.url=https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen

11
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
View File

@@ -18,7 +18,6 @@ import edu.wpi.first.wpilibj.RobotState;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Watchdog;
import edu.wpi.first.wpilibj.event.EventLoop;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
import java.io.PrintWriter;
import java.io.StringWriter;
@@ -101,13 +100,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
CommandScheduler() {
HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand2_Scheduler);
SendableRegistry.addLW(this, "Scheduler");
LiveWindow.setEnabledListener(
() -> {
disable();
cancelAll();
});
LiveWindow.setDisabledListener(this::enable);
SendableRegistry.add(this, "Scheduler");
}
/**
@@ -123,8 +116,6 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
@Override
public void close() {
SendableRegistry.remove(this);
LiveWindow.setEnabledListener(null);
LiveWindow.setDisabledListener(null);
}
/**

6
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
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@@ -20,7 +20,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
public SubsystemBase() {
String name = this.getClass().getSimpleName();
name = name.substring(name.lastIndexOf('.') + 1);
SendableRegistry.addLW(this, name, name);
SendableRegistry.add(this, name, name);
CommandScheduler.getInstance().registerSubsystem(this);
}
@@ -31,7 +31,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
*/
@SuppressWarnings("this-escape")
public SubsystemBase(String name) {
SendableRegistry.addLW(this, name, name);
SendableRegistry.add(this, name, name);
CommandScheduler.getInstance().registerSubsystem(this);
}
@@ -79,7 +79,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
* @param child sendable
*/
public void addChild(String name, Sendable child) {
SendableRegistry.addLW(child, getSubsystem(), name);
SendableRegistry.add(child, getSubsystem(), name);
}
@Override

11
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -13,7 +13,6 @@
#include <frc/RobotBase.h>
#include <frc/RobotState.h>
#include <frc/TimedRobot.h>
#include <frc/livewindow/LiveWindow.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <networktables/IntegerArrayTopic.h>
@@ -72,19 +71,11 @@ CommandScheduler::CommandScheduler()
}) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand2_Scheduler);
wpi::SendableRegistry::AddLW(this, "Scheduler");
frc::LiveWindow::SetEnabledCallback([this] {
this->Disable();
this->CancelAll();
});
frc::LiveWindow::SetDisabledCallback([this] { this->Enable(); });
wpi::SendableRegistry::Add(this, "Scheduler");
}
CommandScheduler::~CommandScheduler() {
wpi::SendableRegistry::Remove(this);
frc::LiveWindow::SetEnabledCallback(nullptr);
frc::LiveWindow::SetDisabledCallback(nullptr);
std::unique_ptr<Impl>().swap(m_impl);
}

6
wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
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@@ -15,12 +15,12 @@
using namespace frc2;
SubsystemBase::SubsystemBase() {
wpi::SendableRegistry::AddLW(this, GetTypeName(*this));
wpi::SendableRegistry::Add(this, GetTypeName(*this));
CommandScheduler::GetInstance().RegisterSubsystem({this});
}
SubsystemBase::SubsystemBase(std::string_view name) {
wpi::SendableRegistry::AddLW(this, name);
wpi::SendableRegistry::Add(this, name);
CommandScheduler::GetInstance().RegisterSubsystem({this});
}
@@ -71,5 +71,5 @@ void SubsystemBase::SetSubsystem(std::string_view name) {
}
void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
wpi::SendableRegistry::AddLW(child, GetSubsystem(), name);
wpi::SendableRegistry::Add(child, GetSubsystem(), name);
}

2
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
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@@ -30,7 +30,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_I2C, 0);
wpi::SendableRegistry::AddLW(this, "ADXL345_I2C", port);
wpi::SendableRegistry::Add(this, "ADXL345_I2C", port);
}
I2C::Port ADXL345_I2C::GetI2CPort() const {

2
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
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@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
m_analogInput->GetChannel() + 1);
wpi::SendableRegistry::AddLW(this, "Accelerometer",
wpi::SendableRegistry::Add(this, "Accelerometer",
m_analogInput->GetChannel());
}

2
wpilibc/src/main/native/cpp/AnalogEncoder.cpp
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@@ -67,7 +67,7 @@ void AnalogEncoder::Init(double fullRange, double expectedZero) {
m_fullRange = fullRange;
m_expectedZero = expectedZero;
wpi::SendableRegistry::AddLW(this, "Analog Encoder",
wpi::SendableRegistry::Add(this, "Analog Encoder",
m_analogInput->GetChannel());
}

2
wpilibc/src/main/native/cpp/AnalogInput.cpp
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@@ -35,7 +35,7 @@ AnalogInput::AnalogInput(int channel) {
HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
wpi::SendableRegistry::AddLW(this, "AnalogInput", channel);
wpi::SendableRegistry::Add(this, "AnalogInput", channel);
}
int AnalogInput::GetValue() const {

2
wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
View File

@@ -33,7 +33,7 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
: m_analog_input(std::move(input)),
m_fullRange(fullRange),
m_offset(offset) {
wpi::SendableRegistry::AddLW(this, "AnalogPotentiometer",
wpi::SendableRegistry::Add(this, "AnalogPotentiometer",
m_analog_input->GetChannel());
}

4
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
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@@ -38,7 +38,7 @@ AnalogTrigger::AnalogTrigger(std::shared_ptr<AnalogInput> input)
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
}
AnalogTrigger::AnalogTrigger(DutyCycle& input)
@@ -55,7 +55,7 @@ AnalogTrigger::AnalogTrigger(std::shared_ptr<DutyCycle> input)
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
}
void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {

2
wpilibc/src/main/native/cpp/Compressor.cpp
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@@ -25,7 +25,7 @@ Compressor::Compressor(int module, PneumaticsModuleType moduleType)
m_module->EnableCompressorDigital();
HAL_Report(HALUsageReporting::kResourceType_Compressor, module + 1);
wpi::SendableRegistry::AddLW(this, "Compressor", module);
wpi::SendableRegistry::Add(this, "Compressor", module);
}
Compressor::Compressor(PneumaticsModuleType moduleType)

2
wpilibc/src/main/native/cpp/Counter.cpp
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@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
SetMaxPeriod(0.5_s);
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
wpi::SendableRegistry::AddLW(this, "Counter", m_index);
wpi::SendableRegistry::Add(this, "Counter", m_index);
}
Counter::Counter(int channel) : Counter(kTwoPulse) {

2
wpilibc/src/main/native/cpp/DigitalInput.cpp
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@@ -32,7 +32,7 @@ DigitalInput::DigitalInput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
wpi::SendableRegistry::AddLW(this, "DigitalInput", channel);
wpi::SendableRegistry::Add(this, "DigitalInput", channel);
}
bool DigitalInput::Get() const {

2
wpilibc/src/main/native/cpp/DigitalOutput.cpp
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@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
wpi::SendableRegistry::AddLW(this, "DigitalOutput", channel);
wpi::SendableRegistry::Add(this, "DigitalOutput", channel);
}
DigitalOutput::~DigitalOutput() {

3
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -55,7 +55,7 @@ DoubleSolenoid::DoubleSolenoid(int module, PneumaticsModuleType moduleType,
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
m_module->GetModuleNumber() + 1);
wpi::SendableRegistry::AddLW(this, "DoubleSolenoid",
wpi::SendableRegistry::Add(this, "DoubleSolenoid",
m_module->GetModuleNumber(), m_forwardChannel);
}
@@ -129,7 +129,6 @@ bool DoubleSolenoid::IsRevSolenoidDisabled() const {
void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Double Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=, this] { Set(kOff); });
builder.AddSmallStringProperty(
"Value",
[=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {

2
wpilibc/src/main/native/cpp/DutyCycle.cpp
View File

@@ -34,7 +34,7 @@ void DutyCycle::InitDutyCycle() {
&status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
HAL_Report(HALUsageReporting::kResourceType_DutyCycle, m_channel + 1);
wpi::SendableRegistry::AddLW(this, "Duty Cycle", m_channel);
wpi::SendableRegistry::Add(this, "Duty Cycle", m_channel);
}
int DutyCycle::GetFPGAIndex() const {

2
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
View File

@@ -74,7 +74,7 @@ void DutyCycleEncoder::Init(double fullRange, double expectedZero) {
m_fullRange = fullRange;
m_expectedZero = expectedZero;
wpi::SendableRegistry::AddLW(this, "DutyCycle Encoder",
wpi::SendableRegistry::Add(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
}

2
wpilibc/src/main/native/cpp/Encoder.cpp
View File

@@ -234,7 +234,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
encodingType);
wpi::SendableRegistry::AddLW(this, "Encoder", m_aSource->GetChannel());
wpi::SendableRegistry::Add(this, "Encoder", m_aSource->GetChannel());
}
double Encoder::DecodingScaleFactor() const {

27
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
View File

@@ -13,7 +13,6 @@
#include "frc/DSControlWord.h"
#include "frc/Errors.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SmartDashboard.h"
using namespace frc;
@@ -96,24 +95,6 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
m_ntFlushEnabled = enabled;
}
void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
static bool hasReported;
if (IsTestEnabled()) {
throw FRC_MakeError(err::IncompatibleMode,
"Can't configure test mode while in test mode!");
}
if (!hasReported && testLW) {
HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
HALUsageReporting::kSmartDashboard_LiveWindow);
hasReported = true;
}
m_lwEnabledInTest = testLW;
}
bool IterativeRobotBase::IsLiveWindowEnabledInTest() {
return m_lwEnabledInTest;
}
units::second_t IterativeRobotBase::GetPeriod() const {
return m_period;
}
@@ -150,9 +131,6 @@ void IterativeRobotBase::LoopFunc() {
} else if (m_lastMode == Mode::kTeleop) {
TeleopExit();
} else if (m_lastMode == Mode::kTest) {
if (m_lwEnabledInTest) {
LiveWindow::SetEnabled(false);
}
TestExit();
}
@@ -167,9 +145,6 @@ void IterativeRobotBase::LoopFunc() {
TeleopInit();
m_watchdog.AddEpoch("TeleopInit()");
} else if (mode == Mode::kTest) {
if (m_lwEnabledInTest) {
LiveWindow::SetEnabled(true);
}
TestInit();
m_watchdog.AddEpoch("TestInit()");
}
@@ -201,8 +176,6 @@ void IterativeRobotBase::LoopFunc() {
SmartDashboard::UpdateValues();
m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
LiveWindow::UpdateValues();
m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
if constexpr (IsSimulation()) {
HAL_SimPeriodicBefore();

3
wpilibc/src/main/native/cpp/PWM.cpp
View File

@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
if (registerSendable) {
wpi::SendableRegistry::AddLW(this, "PWM", channel);
wpi::SendableRegistry::Add(this, "PWM", channel);
}
}
@@ -174,7 +174,6 @@ int PWM::GetChannel() const {
void PWM::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PWM");
builder.SetActuator(true);
builder.SetSafeState([=, this] { SetDisabled(); });
builder.AddDoubleProperty(
"Value", [=, this] { return GetPulseTime().value(); },
[=, this](double value) { SetPulseTime(units::millisecond_t{value}); });

4
wpilibc/src/main/native/cpp/PowerDistribution.cpp
View File

@@ -47,7 +47,7 @@ PowerDistribution::PowerDistribution() {
HAL_Report(HALUsageReporting::kResourceType_PDP,
HALUsageReporting::kPDP_REV);
}
wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
}
PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
@@ -68,7 +68,7 @@ PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
HAL_Report(HALUsageReporting::kResourceType_PDP,
HALUsageReporting::kPDP_REV);
}
wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
}
int PowerDistribution::GetNumChannels() const {

2
wpilibc/src/main/native/cpp/SharpIR.cpp
View File

@@ -31,7 +31,7 @@ SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
SharpIR::SharpIR(int channel, double a, double b, double minCM, double maxCM)
: m_sensor(channel), m_A(a), m_B(b), m_minCM(minCM), m_maxCM(maxCM) {
wpi::SendableRegistry::AddLW(this, "SharpIR", channel);
wpi::SendableRegistry::Add(this, "SharpIR", channel);
m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
if (m_simDevice) {

3
wpilibc/src/main/native/cpp/Solenoid.cpp
View File

@@ -30,7 +30,7 @@ Solenoid::Solenoid(int module, PneumaticsModuleType moduleType, int channel)
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
m_module->GetModuleNumber() + 1);
wpi::SendableRegistry::AddLW(this, "Solenoid", m_module->GetModuleNumber(),
wpi::SendableRegistry::Add(this, "Solenoid", m_module->GetModuleNumber(),
m_channel);
}
@@ -77,7 +77,6 @@ void Solenoid::StartPulse() {
void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=, this] { Set(false); });
builder.AddBooleanProperty(
"Value", [=, this] { return Get(); },
[=, this](bool value) { Set(value); });

2
wpilibc/src/main/native/cpp/Ultrasonic.cpp
View File

@@ -183,7 +183,7 @@ void Ultrasonic::Initialize() {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
wpi::SendableRegistry::AddLW(this, "Ultrasonic", m_echoChannel->GetChannel());
wpi::SendableRegistry::Add(this, "Ultrasonic", m_echoChannel->GetChannel());
}
void Ultrasonic::UltrasonicChecker() {

2
wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp
View File

@@ -60,7 +60,7 @@ ExternalDirectionCounter::ExternalDirectionCounter(
Reset();
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
wpi::SendableRegistry::AddLW(this, "External Direction Counter", m_index);
wpi::SendableRegistry::Add(this, "External Direction Counter", m_index);
}
int ExternalDirectionCounter::GetCount() const {

2
wpilibc/src/main/native/cpp/counter/Tachometer.cpp
View File

@@ -34,7 +34,7 @@ Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
wpi::SendableRegistry::AddLW(this, "Tachometer", m_index);
wpi::SendableRegistry::Add(this, "Tachometer", m_index);
}
units::hertz_t Tachometer::GetFrequency() const {

2
wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
View File

@@ -54,7 +54,7 @@ UpDownCounter::UpDownCounter(std::shared_ptr<DigitalSource> upSource,
Reset();
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
wpi::SendableRegistry::AddLW(this, "UpDown Counter", m_index);
wpi::SendableRegistry::Add(this, "UpDown Counter", m_index);
}
int UpDownCounter::GetCount() const {

3
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -35,7 +35,7 @@ DifferentialDrive::DifferentialDrive(std::function<void(double)> leftMotor,
: m_leftMotor{std::move(leftMotor)}, m_rightMotor{std::move(rightMotor)} {
static int instances = 0;
++instances;
wpi::SendableRegistry::AddLW(this, "DifferentialDrive", instances);
wpi::SendableRegistry::Add(this, "DifferentialDrive", instances);
}
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
@@ -194,7 +194,6 @@ std::string DifferentialDrive::GetDescription() const {
void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("DifferentialDrive");
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
"Left Motor Speed", [&] { return m_leftOutput; }, m_leftMotor);
builder.AddDoubleProperty(

3
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -46,7 +46,7 @@ MecanumDrive::MecanumDrive(std::function<void(double)> frontLeftMotor,
m_rearRightMotor{std::move(rearRightMotor)} {
static int instances = 0;
++instances;
wpi::SendableRegistry::AddLW(this, "MecanumDrive", instances);
wpi::SendableRegistry::Add(this, "MecanumDrive", instances);
}
void MecanumDrive::DriveCartesian(double xSpeed, double ySpeed,
@@ -133,7 +133,6 @@ std::string MecanumDrive::GetDescription() const {
void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
"Front Left Motor Speed", [&] { return m_frontLeftOutput; },
m_frontLeftMotor);

230
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
View File

@@ -1,230 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/livewindow/LiveWindow.h"
#include <memory>
#include <networktables/BooleanTopic.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/StringTopic.h>
#include <wpi/json.h>
#include <wpi/mutex.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/smartdashboard/SendableBuilderImpl.h"
using namespace frc;
static constexpr std::string_view kSmartDashboardType = "LW Subsystem";
namespace {
struct Component {
bool firstTime = true;
bool telemetryEnabled = false;
nt::StringPublisher namePub;
nt::StringPublisher typePub;
};
struct Instance {
Instance() {
wpi::SendableRegistry::SetLiveWindowBuilderFactory(
[] { return std::make_unique<SendableBuilderImpl>(); });
enabledPub.Set(false);
}
wpi::mutex mutex;
int dataHandle = wpi::SendableRegistry::GetDataHandle();
std::shared_ptr<nt::NetworkTable> liveWindowTable =
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow");
std::shared_ptr<nt::NetworkTable> statusTable =
liveWindowTable->GetSubTable(".status");
nt::BooleanPublisher enabledPub =
statusTable->GetBooleanTopic("LW Enabled").Publish();
bool startLiveWindow = false;
bool liveWindowEnabled = false;
bool telemetryEnabled = false;
std::function<void()> enabled;
std::function<void()> disabled;
std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
};
} // namespace
static std::unique_ptr<Instance>& GetInstanceHolder() {
static std::unique_ptr<Instance> instance = std::make_unique<Instance>();
return instance;
}
static Instance& GetInstance() {
return *GetInstanceHolder();
}
#ifndef __FRC_ROBORIO__
namespace frc::impl {
void ResetLiveWindow() {
std::make_unique<Instance>().swap(GetInstanceHolder());
}
} // namespace frc::impl
#endif
std::shared_ptr<Component> Instance::GetOrAdd(wpi::Sendable* sendable) {
auto data = std::static_pointer_cast<Component>(
wpi::SendableRegistry::GetData(sendable, dataHandle));
if (!data) {
data = std::make_shared<Component>();
wpi::SendableRegistry::SetData(sendable, dataHandle, data);
}
return data;
}
void LiveWindow::SetEnabledCallback(std::function<void()> func) {
::GetInstance().enabled = func;
}
void LiveWindow::SetDisabledCallback(std::function<void()> func) {
::GetInstance().disabled = func;
}
void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
// Re-enable global setting in case DisableAllTelemetry() was called.
inst.telemetryEnabled = true;
inst.GetOrAdd(sendable)->telemetryEnabled = true;
}
void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
inst.GetOrAdd(sendable)->telemetryEnabled = false;
}
void LiveWindow::DisableAllTelemetry() {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
inst.telemetryEnabled = false;
wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
if (!cbdata.data) {
cbdata.data = std::make_shared<Component>();
}
std::static_pointer_cast<Component>(cbdata.data)->telemetryEnabled = false;
});
}
void LiveWindow::EnableAllTelemetry() {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
inst.telemetryEnabled = true;
wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
if (!cbdata.data) {
cbdata.data = std::make_shared<Component>();
}
std::static_pointer_cast<Component>(cbdata.data)->telemetryEnabled = true;
});
}
bool LiveWindow::IsEnabled() {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
return inst.liveWindowEnabled;
}
void LiveWindow::SetEnabled(bool enabled) {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
if (inst.liveWindowEnabled == enabled) {
return;
}
inst.startLiveWindow = enabled;
inst.liveWindowEnabled = enabled;
// Force table generation now to make sure everything is defined
UpdateValuesUnsafe();
if (enabled) {
if (inst.enabled) {
inst.enabled();
}
} else {
wpi::SendableRegistry::ForeachLiveWindow(
inst.dataHandle, [&](auto& cbdata) {
static_cast<SendableBuilderImpl&>(cbdata.builder)
.StopLiveWindowMode();
});
if (inst.disabled) {
inst.disabled();
}
}
inst.enabledPub.Set(enabled);
}
void LiveWindow::UpdateValues() {
auto& inst = ::GetInstance();
std::scoped_lock lock(inst.mutex);
UpdateValuesUnsafe();
}
void LiveWindow::UpdateValuesUnsafe() {
auto& inst = ::GetInstance();
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!inst.liveWindowEnabled && !inst.telemetryEnabled) {
return;
}
wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
if (!cbdata.sendable || cbdata.parent) {
return;
}
if (!cbdata.data) {
cbdata.data = std::make_shared<Component>();
}
auto& comp = *std::static_pointer_cast<Component>(cbdata.data);
if (!inst.liveWindowEnabled && !comp.telemetryEnabled) {
return;
}
if (comp.firstTime) {
// By holding off creating the NetworkTable entries, it allows the
// components to be redefined. This allows default sensor and actuator
// values to be created that are replaced with the custom names from
// users calling setName.
if (cbdata.name.empty()) {
return;
}
auto ssTable = inst.liveWindowTable->GetSubTable(cbdata.subsystem);
std::shared_ptr<nt::NetworkTable> table;
// Treat name==subsystem as top level of subsystem
if (cbdata.name == cbdata.subsystem) {
table = ssTable;
} else {
table = ssTable->GetSubTable(cbdata.name);
}
comp.namePub = nt::StringTopic{table->GetTopic(".name")}.Publish();
comp.namePub.Set(cbdata.name);
static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
cbdata.sendable->InitSendable(cbdata.builder);
comp.typePub = nt::StringTopic{ssTable->GetTopic(".type")}.PublishEx(
nt::StringTopic::kTypeString,
{{"SmartDashboard", kSmartDashboardType}});
comp.typePub.Set(kSmartDashboardType);
comp.firstTime = false;
}
if (inst.startLiveWindow) {
static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
}
cbdata.builder.Update();
});
inst.startLiveWindow = false;
}

1
wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
View File

@@ -74,7 +74,6 @@ void MotorControllerGroup::StopMotor() {
void MotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Motor Controller");
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
"Value", [=, this] { return Get(); },
[=, this](double value) { Set(value); });

3
wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
View File

@@ -27,7 +27,7 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
m_dio.EnablePWM(0.5);
HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
wpi::SendableRegistry::Add(this, "Nidec Brushless", pwmChannel);
}
WPI_UNIGNORE_DEPRECATED
@@ -79,7 +79,6 @@ int NidecBrushless::GetChannel() const {
void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Nidec Brushless");
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
"Value", [=, this] { return Get(); },
[=, this](double value) { Set(value); });

3
wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
View File

@@ -94,7 +94,7 @@ WPI_IGNORE_DEPRECATED
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
wpi::SendableRegistry::AddLW(this, name, channel);
wpi::SendableRegistry::Add(this, name, channel);
}
WPI_UNIGNORE_DEPRECATED
@@ -102,7 +102,6 @@ WPI_UNIGNORE_DEPRECATED
void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Motor Controller");
builder.SetActuator(true);
builder.SetSafeState([=, this] { Disable(); });
builder.AddDoubleProperty(
"Value", [=, this] { return Get(); },
[=, this](double value) { Set(value); });

18
wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
View File

@@ -77,20 +77,6 @@ void SendableBuilderImpl::StopListeners() {
}
}
void SendableBuilderImpl::StartLiveWindowMode() {
if (m_safeState) {
m_safeState();
}
StartListeners();
}
void SendableBuilderImpl::StopLiveWindowMode() {
StopListeners();
if (m_safeState) {
m_safeState();
}
}
void SendableBuilderImpl::ClearProperties() {
m_properties.clear();
}
@@ -111,10 +97,6 @@ void SendableBuilderImpl::SetActuator(bool value) {
m_actuator = value;
}
void SendableBuilderImpl::SetSafeState(std::function<void()> func) {
m_safeState = func;
}
void SendableBuilderImpl::SetUpdateTable(wpi::unique_function<void()> func) {
m_updateTables.emplace_back(std::move(func));
}

4
wpilibc/src/main/native/cppcs/RobotBase.cpp
View File

@@ -26,7 +26,6 @@
#include "frc/DriverStation.h"
#include "frc/Errors.h"
#include "frc/Notifier.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SmartDashboard.h"
static_assert(frc::RuntimeType::kRoboRIO ==
@@ -333,7 +332,4 @@ RobotBase::RobotBase() {
// Call DriverStation::RefreshData() to kick things off
DriverStation::RefreshData();
// First and one-time initialization
LiveWindow::SetEnabled(false);
}

14
wpilibc/src/main/native/include/frc/IterativeRobotBase.h
View File

@@ -212,19 +212,6 @@ class IterativeRobotBase : public RobotBase {
[[deprecated("Deprecated without replacement.")]]
void SetNetworkTablesFlushEnabled(bool enabled);
/**
* Sets whether LiveWindow operation is enabled during test mode.
*
* @param testLW True to enable, false to disable. Defaults to false.
* @throws if called in test mode.
*/
void EnableLiveWindowInTest(bool testLW);
/**
* Whether LiveWindow operation is enabled during test mode.
*/
bool IsLiveWindowEnabledInTest();
/**
* Gets time period between calls to Periodic() functions.
*/
@@ -260,7 +247,6 @@ class IterativeRobotBase : public RobotBase {
units::second_t m_period;
Watchdog m_watchdog;
bool m_ntFlushEnabled = true;
bool m_lwEnabledInTest = false;
bool m_calledDsConnected = false;
void PrintLoopOverrunMessage();

1
wpilibc/src/main/native/include/frc/PWM.h
View File

@@ -54,7 +54,6 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
* MXP port
* @param registerSendable If true, adds this instance to SendableRegistry
* and LiveWindow
*/
explicit PWM(int channel, bool registerSendable = true);

90
wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
View File

@@ -1,90 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <functional>
namespace wpi {
class Sendable;
} // namespace wpi
namespace frc {
/**
* The LiveWindow class is the public interface for putting sensors and
* actuators on the LiveWindow.
*/
class LiveWindow final {
public:
/**
* Sets function to be called when LiveWindow is enabled.
*
* @param func function (or nullptr for none)
*/
static void SetEnabledCallback(std::function<void()> func);
/**
* Sets function to be called when LiveWindow is disabled.
*
* @param func function (or nullptr for none)
*/
static void SetDisabledCallback(std::function<void()> func);
/**
* Enable telemetry for a single component.
*
* @param component sendable
*/
static void EnableTelemetry(wpi::Sendable* component);
/**
* Disable telemetry for a single component.
*
* @param component sendable
*/
static void DisableTelemetry(wpi::Sendable* component);
/**
* Disable ALL telemetry.
*/
static void DisableAllTelemetry();
/**
* Enable ALL telemetry.
*/
static void EnableAllTelemetry();
/**
* Returns true if LiveWindow is enabled.
*
* @return True if LiveWindow is enabled.
*/
static bool IsEnabled();
/**
* Change the enabled status of LiveWindow.
*
* If it changes to enabled, start livewindow running otherwise stop it
*/
static void SetEnabled(bool enabled);
/**
* Tell all the sensors to update (send) their values.
*
* Actuators are handled through callbacks on their value changing from the
* SmartDashboard widgets.
*/
static void UpdateValues();
private:
LiveWindow() = default;
/**
* Updates the entries, without using a mutex or lock.
*/
static void UpdateValuesUnsafe();
};
} // namespace frc

14
wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
View File

@@ -73,18 +73,6 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
*/
void StopListeners();
/**
* Start LiveWindow mode by hooking the setters for all properties. Also
* calls the SafeState function if one was provided.
*/
void StartLiveWindowMode();
/**
* Stop LiveWindow mode by unhooking the setters for all properties. Also
* calls the SafeState function if one was provided.
*/
void StopLiveWindowMode();
/**
* Clear properties.
*/
@@ -92,7 +80,6 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
void SetSmartDashboardType(std::string_view type) override;
void SetActuator(bool value) override;
void SetSafeState(std::function<void()> func) override;
void SetUpdateTable(wpi::unique_function<void()> func) override;
nt::Topic GetTopic(std::string_view key) override;
@@ -238,7 +225,6 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
void AddSmallPropertyImpl(Topic topic, Getter getter, Setter setter);
std::vector<std::unique_ptr<Property>> m_properties;
std::function<void()> m_safeState;
std::vector<wpi::unique_function<void()>> m_updateTables;
std::shared_ptr<nt::NetworkTable> m_table;
bool m_controllable = false;

16
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
View File

@@ -11,7 +11,6 @@
#include <gtest/gtest.h>
#include "frc/livewindow/LiveWindow.h"
#include "frc/simulation/DriverStationSim.h"
#include "frc/simulation/SimHooks.h"
@@ -20,7 +19,7 @@ using namespace frc;
inline constexpr auto kPeriod = 20_ms;
namespace {
class TimedRobotTest : public ::testing::TestWithParam<bool> {
class TimedRobotTest : public ::testing::Test {
protected:
void SetUp() override { frc::sim::PauseTiming(); }
@@ -308,12 +307,8 @@ TEST_F(TimedRobotTest, TeleopMode) {
robotThread.join();
}
TEST_P(TimedRobotTest, TestMode) {
bool isTestLW = GetParam();
TEST_F(TimedRobotTest, TestMode) {
MockRobot robot;
robot.EnableLiveWindowInTest(isTestLW);
std::thread robotThread{[&] { robot.StartCompetition(); }};
frc::sim::DriverStationSim::SetEnabled(true);
@@ -328,7 +323,6 @@ TEST_P(TimedRobotTest, TestMode) {
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_FALSE(frc::LiveWindow::IsEnabled());
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
@@ -350,9 +344,6 @@ TEST_P(TimedRobotTest, TestMode) {
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_EQ(isTestLW, frc::LiveWindow::IsEnabled());
EXPECT_THROW(robot.EnableLiveWindowInTest(isTestLW), std::runtime_error);
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
@@ -399,7 +390,6 @@ TEST_P(TimedRobotTest, TestMode) {
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_FALSE(frc::LiveWindow::IsEnabled());
EXPECT_EQ(3u, robot.m_robotPeriodicCount);
EXPECT_EQ(3u, robot.m_simulationPeriodicCount);
@@ -609,5 +599,3 @@ TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
robot.EndCompetition();
robotThread.join();
}
INSTANTIATE_TEST_SUITE_P(TimedRobotTests, TimedRobotTest, testing::Bool());

3
wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
View File

@@ -6,7 +6,6 @@
#include <frc/DriverStation.h>
#include <frc/internal/DriverStationModeThread.h>
#include <frc/livewindow/LiveWindow.h>
#include <hal/DriverStation.h>
#include <networktables/NetworkTable.h>
@@ -45,14 +44,12 @@ void Robot::StartCompetition() {
wpi::WaitForObject(event.GetHandle());
}
} else if (IsTest()) {
frc::LiveWindow::SetEnabled(true);
modeThread.InTest(true);
Test();
modeThread.InTest(false);
while (IsTest() && IsEnabled()) {
wpi::WaitForObject(event.GetHandle());
}
frc::LiveWindow::SetEnabled(false);
} else {
modeThread.InTeleop(true);
Teleop();

5
wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp
View File

@@ -4,16 +4,11 @@
#include "Robot.h"
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <wpi/print.h>
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
frc::LiveWindow::DisableAllTelemetry();
// Runs for 2 ms after robot periodic functions
Schedule([=] {}, 2_ms);

6
wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp
View File

@@ -4,14 +4,8 @@
#include "Robot.h"
#include <frc/livewindow/LiveWindow.h>
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
frc::LiveWindow::DisableAllTelemetry();
// Runs for 2 ms after robot periodic functions
Schedule([=] {}, 2_ms);

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
View File

@@ -135,7 +135,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
setRange(range);
HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
SendableRegistry.addLW(this, "ADXL345_I2C", port.value);
SendableRegistry.add(this, "ADXL345_I2C", port.value);
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
View File

@@ -26,7 +26,7 @@ public class AnalogAccelerometer implements Sendable, AutoCloseable {
/** Common initialization. */
private void initAccelerometer() {
HAL.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel() + 1);
SendableRegistry.addLW(this, "Accelerometer", m_analogChannel.getChannel());
SendableRegistry.add(this, "Accelerometer", m_analogChannel.getChannel());
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
View File

@@ -83,7 +83,7 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
m_fullRange = fullRange;
m_expectedZero = expectedZero;
SendableRegistry.addLW(this, "Analog Encoder", m_analogInput.getChannel());
SendableRegistry.add(this, "Analog Encoder", m_analogInput.getChannel());
}
private double mapSensorRange(double pos) {

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
View File

@@ -29,7 +29,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
/** Initialize the gyro. Calibration is handled by calibrate(). */
private void initGyro() {
HAL.report(tResourceType.kResourceType_Gyro, m_analog.getChannel() + 1);
SendableRegistry.addLW(this, "AnalogGyro", m_analog.getChannel());
SendableRegistry.add(this, "AnalogGyro", m_analog.getChannel());
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
View File

@@ -42,7 +42,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
m_port = AnalogJNI.initializeAnalogInputPort(portHandle);
HAL.report(tResourceType.kResourceType_AnalogChannel, channel + 1);
SendableRegistry.addLW(this, "AnalogInput", channel);
SendableRegistry.add(this, "AnalogInput", channel);
}
@Override

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
View File

@@ -56,7 +56,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
*/
@SuppressWarnings("this-escape")
public AnalogPotentiometer(final AnalogInput input, double fullRange, double offset) {
SendableRegistry.addLW(this, "AnalogPotentiometer", input.getChannel());
SendableRegistry.add(this, "AnalogPotentiometer", input.getChannel());
m_analogInput = input;
m_initAnalogInput = false;

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
View File

@@ -52,7 +52,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
int index = getIndex();
HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
SendableRegistry.addLW(this, "AnalogTrigger", index);
SendableRegistry.add(this, "AnalogTrigger", index);
}
/**
@@ -69,7 +69,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
int index = getIndex();
HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
SendableRegistry.addLW(this, "AnalogTrigger", index);
SendableRegistry.add(this, "AnalogTrigger", index);
}
@Override

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
View File

@@ -45,7 +45,7 @@ public class Compressor implements Sendable, AutoCloseable {
m_module.enableCompressorDigital();
HAL.report(tResourceType.kResourceType_Compressor, module + 1);
SendableRegistry.addLW(this, "Compressor", module);
SendableRegistry.add(this, "Compressor", module);
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
View File

@@ -85,7 +85,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
setMaxPeriod(0.5);
HAL.report(tResourceType.kResourceType_Counter, m_index + 1, mode.value + 1);
SendableRegistry.addLW(this, "Counter", m_index);
SendableRegistry.add(this, "Counter", m_index);
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
View File

@@ -35,7 +35,7 @@ public class DigitalInput extends DigitalSource implements Sendable {
m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), true);
HAL.report(tResourceType.kResourceType_DigitalInput, channel + 1);
SendableRegistry.addLW(this, "DigitalInput", channel);
SendableRegistry.add(this, "DigitalInput", channel);
}
@Override

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
View File

@@ -37,7 +37,7 @@ public class DigitalOutput extends DigitalSource implements Sendable {
m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), false);
HAL.report(tResourceType.kResourceType_DigitalOutput, channel + 1);
SendableRegistry.addLW(this, "DigitalOutput", channel);
SendableRegistry.add(this, "DigitalOutput", channel);
}
@Override

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
View File

@@ -99,7 +99,7 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
tResourceType.kResourceType_Solenoid, forwardChannel + 1, m_module.getModuleNumber() + 1);
HAL.report(
tResourceType.kResourceType_Solenoid, reverseChannel + 1, m_module.getModuleNumber() + 1);
SendableRegistry.addLW(this, "DoubleSolenoid", m_module.getModuleNumber(), forwardChannel);
SendableRegistry.add(this, "DoubleSolenoid", m_module.getModuleNumber(), forwardChannel);
successfulCompletion = true;
} finally {
if (!successfulCompletion) {
@@ -210,7 +210,6 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Double Solenoid");
builder.setActuator(true);
builder.setSafeState(() -> set(Value.kOff));
builder.addStringProperty(
"Value",
() -> get().name().substring(1),

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
View File

@@ -36,7 +36,7 @@ public class DutyCycle implements Sendable, AutoCloseable {
m_channel = channel;
HAL.report(tResourceType.kResourceType_DutyCycle, channel + 1);
SendableRegistry.addLW(this, "Duty Cycle", channel);
SendableRegistry.add(this, "Duty Cycle", channel);
}
/** Close the DutyCycle and free all resources. */

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
View File

@@ -93,7 +93,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
m_fullRange = fullRange;
m_expectedZero = expectedZero;
SendableRegistry.addLW(this, "DutyCycle Encoder", m_dutyCycle.getSourceChannel());
SendableRegistry.add(this, "DutyCycle Encoder", m_dutyCycle.getSourceChannel());
}
private double mapSensorRange(double pos) {

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -84,7 +84,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
int fpgaIndex = getFPGAIndex();
HAL.report(tResourceType.kResourceType_Encoder, fpgaIndex + 1, type.value + 1);
SendableRegistry.addLW(this, "Encoder", fpgaIndex);
SendableRegistry.add(this, "Encoder", fpgaIndex);
}
/**

45
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
View File

@@ -5,13 +5,9 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.ConcurrentModificationException;
/**
* IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase
@@ -71,7 +67,6 @@ public abstract class IterativeRobotBase extends RobotBase {
private final double m_period;
private final Watchdog m_watchdog;
private boolean m_ntFlushEnabled = true;
private boolean m_lwEnabledInTest;
private boolean m_calledDsConnected;
/**
@@ -259,34 +254,6 @@ public abstract class IterativeRobotBase extends RobotBase {
m_ntFlushEnabled = enabled;
}
private boolean m_reportedLw;
/**
* Sets whether LiveWindow operation is enabled during test mode. Calling
*
* @param testLW True to enable, false to disable. Defaults to false.
* @throws ConcurrentModificationException if this is called during test mode.
*/
public void enableLiveWindowInTest(boolean testLW) {
if (isTestEnabled()) {
throw new ConcurrentModificationException("Can't configure test mode while in test mode!");
}
if (!m_reportedLw && testLW) {
HAL.report(tResourceType.kResourceType_SmartDashboard, tInstances.kSmartDashboard_LiveWindow);
m_reportedLw = true;
}
m_lwEnabledInTest = testLW;
}
/**
* Whether LiveWindow operation is enabled during test mode.
*
* @return whether LiveWindow should be enabled in test mode.
*/
public boolean isLiveWindowEnabledInTest() {
return m_lwEnabledInTest;
}
/**
* Gets time period between calls to Periodic() functions.
*
@@ -327,12 +294,7 @@ public abstract class IterativeRobotBase extends RobotBase {
case kDisabled -> disabledExit();
case kAutonomous -> autonomousExit();
case kTeleop -> teleopExit();
case kTest -> {
if (m_lwEnabledInTest) {
LiveWindow.setEnabled(false);
}
testExit();
}
case kTest -> testExit();
default -> {
// NOP
}
@@ -353,9 +315,6 @@ public abstract class IterativeRobotBase extends RobotBase {
m_watchdog.addEpoch("teleopInit()");
}
case kTest -> {
if (m_lwEnabledInTest) {
LiveWindow.setEnabled(true);
}
testInit();
m_watchdog.addEpoch("testInit()");
}
@@ -399,8 +358,6 @@ public abstract class IterativeRobotBase extends RobotBase {
SmartDashboard.updateValues();
m_watchdog.addEpoch("SmartDashboard.updateValues()");
LiveWindow.updateValues();
m_watchdog.addEpoch("LiveWindow.updateValues()");
if (isSimulation()) {
HAL.simPeriodicBefore();

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
View File

@@ -40,7 +40,7 @@ public class PWM implements Sendable, AutoCloseable {
* <p>Checks channel value range and allocates the appropriate channel. The allocation is only
* done to help users ensure that they don't double assign channels.
*
* <p>By default, adds itself to SendableRegistry and LiveWindow.
* <p>By default, adds itself to SendableRegistry.
*
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
*/
@@ -52,7 +52,7 @@ public class PWM implements Sendable, AutoCloseable {
* Allocate a PWM given a channel.
*
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
* @param registerSendable If true, adds this instance to SendableRegistry and LiveWindow
* @param registerSendable If true, adds this instance to SendableRegistry
*/
@SuppressWarnings("this-escape")
public PWM(final int channel, final boolean registerSendable) {
@@ -67,7 +67,7 @@ public class PWM implements Sendable, AutoCloseable {
HAL.report(tResourceType.kResourceType_PWM, channel + 1);
if (registerSendable) {
SendableRegistry.addLW(this, "PWM", channel);
SendableRegistry.add(this, "PWM", channel);
}
}
@@ -244,7 +244,6 @@ public class PWM implements Sendable, AutoCloseable {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("PWM");
builder.setActuator(true);
builder.setSafeState(this::setDisabled);
builder.addDoubleProperty(
"Value", this::getPulseTimeMicroseconds, value -> setPulseTimeMicroseconds((int) value));
builder.addDoubleProperty("Speed", this::getSpeed, this::setSpeed);

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
View File

@@ -57,7 +57,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
} else {
HAL.report(tResourceType.kResourceType_PDP, tInstances.kPDP_REV);
}
SendableRegistry.addLW(this, "PowerDistribution", m_module);
SendableRegistry.add(this, "PowerDistribution", m_module);
}
/**
@@ -76,7 +76,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
HAL.report(tResourceType.kResourceType_PDP, tInstances.kPDP_REV);
}
SendableRegistry.addLW(this, "PowerDistribution", m_module);
SendableRegistry.add(this, "PowerDistribution", m_module);
}
@Override

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -17,7 +17,6 @@ import edu.wpi.first.networktables.MultiSubscriber;
import edu.wpi.first.networktables.NetworkTableEvent;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.util.WPILibVersion;
import java.io.File;
import java.io.IOException;
@@ -224,8 +223,6 @@ public abstract class RobotBase implements AutoCloseable {
}
}
});
LiveWindow.setEnabled(false);
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
View File

@@ -89,7 +89,7 @@ public class SharpIR implements Sendable, AutoCloseable {
m_minCM = minCM;
m_maxCM = maxCM;
SendableRegistry.addLW(this, "SharpIR", channel);
SendableRegistry.add(this, "SharpIR", channel);
m_simDevice = SimDevice.create("SharpIR", m_sensor.getChannel());
if (m_simDevice != null) {

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
View File

@@ -57,7 +57,7 @@ public class Solenoid implements Sendable, AutoCloseable {
}
HAL.report(tResourceType.kResourceType_Solenoid, channel + 1, m_module.getModuleNumber() + 1);
SendableRegistry.addLW(this, "Solenoid", m_module.getModuleNumber(), channel);
SendableRegistry.add(this, "Solenoid", m_module.getModuleNumber(), channel);
}
@Override
@@ -148,7 +148,6 @@ public class Solenoid implements Sendable, AutoCloseable {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Solenoid");
builder.setActuator(true);
builder.setSafeState(() -> set(false));
builder.addBooleanProperty("Value", this::get, this::set);
}
}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
View File

@@ -107,7 +107,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
m_instances++;
HAL.report(tResourceType.kResourceType_Ultrasonic, m_instances);
SendableRegistry.addLW(this, "Ultrasonic", m_echoChannel.getChannel());
SendableRegistry.add(this, "Ultrasonic", m_echoChannel.getChannel());
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java
View File

@@ -60,7 +60,7 @@ public class ExternalDirectionCounter implements Sendable, AutoCloseable {
int intIndex = index.getInt();
HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
SendableRegistry.addLW(this, "External Direction Counter", intIndex);
SendableRegistry.add(this, "External Direction Counter", intIndex);
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java
View File

@@ -49,7 +49,7 @@ public class Tachometer implements Sendable, AutoCloseable {
int intIndex = index.getInt();
HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
SendableRegistry.addLW(this, "Tachometer", intIndex);
SendableRegistry.add(this, "Tachometer", intIndex);
}
@Override

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/UpDownCounter.java
View File

@@ -63,7 +63,7 @@ public class UpDownCounter implements Sendable, AutoCloseable {
int intIndex = index.getInt();
HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
SendableRegistry.addLW(this, "UpDown Counter", intIndex);
SendableRegistry.add(this, "UpDown Counter", intIndex);
}
@Override

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
View File

@@ -127,7 +127,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
m_leftMotor = leftMotor;
m_rightMotor = rightMotor;
instances++;
SendableRegistry.addLW(this, "DifferentialDrive", instances);
SendableRegistry.add(this, "DifferentialDrive", instances);
}
@Override
@@ -367,7 +367,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("DifferentialDrive");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Left Motor Speed", () -> m_leftOutput, m_leftMotor);
builder.addDoubleProperty("Right Motor Speed", () -> m_rightOutput, m_rightMotor);
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
View File

@@ -158,7 +158,7 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
m_frontRightMotor = frontRightMotor;
m_rearRightMotor = rearRightMotor;
instances++;
SendableRegistry.addLW(this, "MecanumDrive", instances);
SendableRegistry.add(this, "MecanumDrive", instances);
}
@Override
@@ -317,7 +317,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("MecanumDrive");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Front Left Motor Speed", () -> m_frontLeftOutput, m_frontLeftMotor);
builder.addDoubleProperty(
"Front Right Motor Speed", () -> m_frontRightOutput, m_frontRightMotor);

247
wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
View File

@@ -1,247 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.livewindow;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.networktables.StringTopic;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
/**
* The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow.
*/
public final class LiveWindow {
private static final class Component implements AutoCloseable {
@Override
public void close() {
if (m_namePub != null) {
m_namePub.close();
m_namePub = null;
}
if (m_typePub != null) {
m_typePub.close();
m_typePub = null;
}
}
boolean m_firstTime = true;
boolean m_telemetryEnabled;
StringPublisher m_namePub;
StringPublisher m_typePub;
}
private static final String kSmartDashboardType = "LW Subsystem";
private static final int dataHandle = SendableRegistry.getDataHandle();
private static final NetworkTable liveWindowTable =
NetworkTableInstance.getDefault().getTable("LiveWindow");
private static final NetworkTable statusTable = liveWindowTable.getSubTable(".status");
private static final BooleanPublisher enabledPub =
statusTable.getBooleanTopic("LW Enabled").publish();
private static boolean startLiveWindow;
private static boolean liveWindowEnabled;
private static boolean telemetryEnabled;
private static Runnable enabledListener;
private static Runnable disabledListener;
static {
SendableRegistry.setLiveWindowBuilderFactory(SendableBuilderImpl::new);
enabledPub.set(false);
}
private static Component getOrAdd(Sendable sendable) {
Component data = (Component) SendableRegistry.getData(sendable, dataHandle);
if (data == null) {
data = new Component();
SendableRegistry.setData(sendable, dataHandle, data);
}
return data;
}
private LiveWindow() {
throw new UnsupportedOperationException("This is a utility class!");
}
/**
* Sets function to be called when LiveWindow is enabled.
*
* @param runnable function (or null for none)
*/
public static synchronized void setEnabledListener(Runnable runnable) {
enabledListener = runnable;
}
/**
* Sets function to be called when LiveWindow is disabled.
*
* @param runnable function (or null for none)
*/
public static synchronized void setDisabledListener(Runnable runnable) {
disabledListener = runnable;
}
/**
* Returns true if LiveWindow is enabled.
*
* @return True if LiveWindow is enabled.
*/
public static synchronized boolean isEnabled() {
return liveWindowEnabled;
}
/**
* Set the enabled state of LiveWindow.
*
* <p>If it's being enabled, turn off the scheduler and remove all the commands from the queue and
* enable all the components registered for LiveWindow. If it's being disabled, stop all the
* registered components and re-enable the scheduler.
*
* <p>TODO: add code to disable PID loops when enabling LiveWindow. The commands should re-enable
* the PID loops themselves when they get rescheduled. This prevents arms from starting to move
* around, etc. after a period of adjusting them in LiveWindow mode.
*
* @param enabled True to enable LiveWindow.
*/
public static synchronized void setEnabled(boolean enabled) {
if (liveWindowEnabled != enabled) {
startLiveWindow = enabled;
liveWindowEnabled = enabled;
updateValues(); // Force table generation now to make sure everything is defined
if (enabled) {
System.out.println("Starting live window mode.");
if (enabledListener != null) {
enabledListener.run();
}
} else {
System.out.println("stopping live window mode.");
SendableRegistry.foreachLiveWindow(
dataHandle, cbdata -> ((SendableBuilderImpl) cbdata.builder).stopLiveWindowMode());
if (disabledListener != null) {
disabledListener.run();
}
}
enabledPub.set(enabled);
}
}
/**
* Enable telemetry for a single component.
*
* @param sendable component
*/
public static synchronized void enableTelemetry(Sendable sendable) {
// Re-enable global setting in case disableAllTelemetry() was called.
telemetryEnabled = true;
getOrAdd(sendable).m_telemetryEnabled = true;
}
/**
* Disable telemetry for a single component.
*
* @param sendable component
*/
public static synchronized void disableTelemetry(Sendable sendable) {
getOrAdd(sendable).m_telemetryEnabled = false;
}
/** Disable ALL telemetry. */
public static synchronized void disableAllTelemetry() {
telemetryEnabled = false;
SendableRegistry.foreachLiveWindow(
dataHandle,
cbdata -> {
if (cbdata.data == null) {
cbdata.data = new Component();
}
((Component) cbdata.data).m_telemetryEnabled = false;
});
}
/** Enable ALL telemetry. */
public static synchronized void enableAllTelemetry() {
telemetryEnabled = true;
SendableRegistry.foreachLiveWindow(
dataHandle,
cbdata -> {
if (cbdata.data == null) {
cbdata.data = new Component();
}
((Component) cbdata.data).m_telemetryEnabled = true;
});
}
/**
* Tell all the sensors to update (send) their values.
*
* <p>Actuators are handled through callbacks on their value changing from the SmartDashboard
* widgets.
*/
public static synchronized void updateValues() {
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!liveWindowEnabled && !telemetryEnabled) {
return;
}
SendableRegistry.foreachLiveWindow(
dataHandle,
cbdata -> {
if (cbdata.sendable == null || cbdata.parent != null) {
return;
}
if (cbdata.data == null) {
cbdata.data = new Component();
}
Component component = (Component) cbdata.data;
if (!liveWindowEnabled && !component.m_telemetryEnabled) {
return;
}
if (component.m_firstTime) {
// By holding off creating the NetworkTable entries, it allows the
// components to be redefined. This allows default sensor and actuator
// values to be created that are replaced with the custom names from
// users calling setName.
if (cbdata.name.isEmpty()) {
return;
}
NetworkTable ssTable = liveWindowTable.getSubTable(cbdata.subsystem);
NetworkTable table;
// Treat name==subsystem as top level of subsystem
if (cbdata.name.equals(cbdata.subsystem)) {
table = ssTable;
} else {
table = ssTable.getSubTable(cbdata.name);
}
component.m_namePub = new StringTopic(table.getTopic(".name")).publish();
component.m_namePub.set(cbdata.name);
((SendableBuilderImpl) cbdata.builder).setTable(table);
cbdata.sendable.initSendable(cbdata.builder);
component.m_typePub =
new StringTopic(ssTable.getTopic(".type"))
.publishEx(
StringTopic.kTypeString,
"{\"SmartDashboard\":\"" + kSmartDashboardType + "\"}");
component.m_typePub.set(kSmartDashboardType);
component.m_firstTime = false;
}
if (startLiveWindow) {
((SendableBuilderImpl) cbdata.builder).startLiveWindowMode();
}
cbdata.builder.update();
});
startLiveWindow = false;
}
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java
View File

@@ -53,7 +53,7 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
SendableRegistry.addChild(this, controller);
}
instances++;
SendableRegistry.addLW(this, "MotorControllerGroup", instances);
SendableRegistry.add(this, "MotorControllerGroup", instances);
}
@Override
@@ -111,7 +111,6 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Motor Controller");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Value", this::get, this::set);
}
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java
View File

@@ -46,7 +46,7 @@ public class NidecBrushless extends MotorSafety
SendableRegistry.addChild(this, m_pwm);
HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel + 1);
SendableRegistry.addLW(this, "Nidec Brushless", pwmChannel);
SendableRegistry.add(this, "Nidec Brushless", pwmChannel);
}
@Override
@@ -139,7 +139,6 @@ public class NidecBrushless extends MotorSafety
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Nidec Brushless");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Value", this::get, this::set);
}
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
View File

@@ -32,7 +32,7 @@ public abstract class PWMMotorController extends MotorSafety
@SuppressWarnings("this-escape")
protected PWMMotorController(final String name, final int channel) {
m_pwm = new PWM(channel, false);
SendableRegistry.addLW(this, name, channel);
SendableRegistry.add(this, name, channel);
}
/** Free the resource associated with the PWM channel and set the value to 0. */
@@ -161,7 +161,6 @@ public abstract class PWMMotorController extends MotorSafety
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Motor Controller");
builder.setActuator(true);
builder.setSafeState(this::disable);
builder.addDoubleProperty("Value", this::get, this::set);
}
}

34
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
View File

@@ -98,7 +98,6 @@ public class SendableBuilderImpl implements NTSendableBuilder {
}
private final List<Property<?, ?>> m_properties = new ArrayList<>();
private Runnable m_safeState;
private final List<Runnable> m_updateTables = new ArrayList<>();
private NetworkTable m_table;
private boolean m_controllable;
@@ -205,28 +204,6 @@ public class SendableBuilderImpl implements NTSendableBuilder {
}
}
/**
* Start LiveWindow mode by hooking the setters for all properties. Also calls the safeState
* function if one was provided.
*/
public void startLiveWindowMode() {
if (m_safeState != null) {
m_safeState.run();
}
startListeners();
}
/**
* Stop LiveWindow mode by unhooking the setters for all properties. Also calls the safeState
* function if one was provided.
*/
public void stopLiveWindowMode() {
stopListeners();
if (m_safeState != null) {
m_safeState.run();
}
}
/** Clear properties. */
@Override
public void clearProperties() {
@@ -274,17 +251,6 @@ public class SendableBuilderImpl implements NTSendableBuilder {
m_actuator = value;
}
/**
* Set the function that should be called to set the Sendable into a safe state. This is called
* when entering and exiting Live Window mode.
*
* @param func function
*/
@Override
public void setSafeState(Runnable func) {
m_safeState = func;
}
/**
* Set the function that should be called to update the network table for things other than
* properties. Note this function is not passed the network table object; instead it should use

17
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
View File

@@ -5,20 +5,14 @@
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import java.util.ConcurrentModificationException;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.ValueSource;
class TimedRobotTest {
static final double kPeriod = 0.02;
@@ -389,12 +383,10 @@ class TimedRobotTest {
robot.close();
}
@ValueSource(booleans = {true, false})
@ParameterizedTest
@Test
@ResourceLock("timing")
void testModeTest(boolean isLW) {
void testModeTest() {
MockRobot robot = new MockRobot();
robot.enableLiveWindowInTest(isLW);
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
@@ -411,7 +403,6 @@ class TimedRobotTest {
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertFalse(LiveWindow.isEnabled());
assertEquals(0, robot.m_robotPeriodicCount.get());
assertEquals(0, robot.m_simulationPeriodicCount.get());
@@ -454,9 +445,6 @@ class TimedRobotTest {
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(isLW, LiveWindow.isEnabled());
assertThrows(ConcurrentModificationException.class, () -> robot.enableLiveWindowInTest(isLW));
assertEquals(2, robot.m_robotPeriodicCount.get());
assertEquals(2, robot.m_simulationPeriodicCount.get());
@@ -483,7 +471,6 @@ class TimedRobotTest {
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertFalse(LiveWindow.isEnabled());
assertEquals(3, robot.m_robotPeriodicCount.get());
assertEquals(3, robot.m_simulationPeriodicCount.get());

14
wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
View File

@@ -1,14 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.livewindow;
import edu.wpi.first.wpilibj.UtilityClassTest;
@SuppressWarnings("PMD.TestClassWithoutTestCases")
class LiveWindowTest extends UtilityClassTest<LiveWindow> {
LiveWindowTest() {
super(LiveWindow.class);
}
}

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timeslice/Robot.java
View File

@@ -5,7 +5,6 @@
package edu.wpi.first.wpilibj.templates.timeslice;
import edu.wpi.first.wpilibj.TimesliceRobot;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -25,10 +24,6 @@ public class Robot extends TimesliceRobot {
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
super(0.005, 0.01);
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
LiveWindow.disableAllTelemetry();
// Runs for 2 ms after robot periodic functions
schedule(() -> {}, 0.002);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timesliceskeleton/Robot.java
View File

@@ -5,7 +5,6 @@
package edu.wpi.first.wpilibj.templates.timesliceskeleton;
import edu.wpi.first.wpilibj.TimesliceRobot;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The methods in this class are called automatically corresponding to each mode, as described in
@@ -18,10 +17,6 @@ public class Robot extends TimesliceRobot {
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
super(0.005, 0.01);
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
LiveWindow.disableAllTelemetry();
// Runs for 2 ms after robot periodic functions
schedule(() -> {}, 0.002);

2
wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
View File

@@ -43,7 +43,7 @@ public class BangBangController implements Sendable {
setTolerance(tolerance);
SendableRegistry.addLW(this, "BangBangController", instances);
SendableRegistry.add(this, "BangBangController", instances);
MathSharedStore.reportUsage(MathUsageId.kController_BangBangController, instances);
}

2
wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
View File

@@ -109,7 +109,7 @@ public class PIDController implements Sendable, AutoCloseable {
m_period = period;
instances++;
SendableRegistry.addLW(this, "PIDController", instances);
SendableRegistry.add(this, "PIDController", instances);
MathSharedStore.reportUsage(MathUsageId.kController_PIDController2, instances);
}

8
wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java
View File

@@ -42,14 +42,6 @@ public interface SendableBuilder extends AutoCloseable {
*/
void setActuator(boolean value);
/**
* Set the function that should be called to set the Sendable into a safe state. This is called
* when entering and exiting Live Window mode.
*
* @param func function
*/
void setSafeState(Runnable func);
/**
* Add a boolean property.
*

232
wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java
View File

@@ -5,17 +5,13 @@
package edu.wpi.first.util.sendable;
import java.lang.ref.WeakReference;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Map;
import java.util.WeakHashMap;
import java.util.function.Consumer;
import java.util.function.Supplier;
/**
* The SendableRegistry class is the public interface for registering sensors and actuators for use
* on dashboards and LiveWindow.
* on dashboards.
*/
@SuppressWarnings("PMD.AvoidCatchingGenericException")
public final class SendableRegistry {
@@ -40,8 +36,6 @@ public final class SendableRegistry {
SendableBuilder m_builder;
String m_name;
String m_subsystem = "Ungrouped";
WeakReference<Sendable> m_parent;
boolean m_liveWindow;
AutoCloseable[] m_data;
void setName(String moduleType, int channel) {
@@ -53,7 +47,6 @@ public final class SendableRegistry {
}
}
private static Supplier<SendableBuilder> liveWindowFactory;
private static final Map<Object, Component> components = new WeakHashMap<>();
private static int nextDataHandle;
@@ -74,15 +67,6 @@ public final class SendableRegistry {
throw new UnsupportedOperationException("This is a utility class!");
}
/**
* Sets the factory for LiveWindow builders.
*
* @param factory factory function
*/
public static synchronized void setLiveWindowBuilderFactory(Supplier<SendableBuilder> factory) {
liveWindowFactory = factory;
}
/**
* Adds an object to the registry.
*
@@ -133,100 +117,6 @@ public final class SendableRegistry {
comp.m_subsystem = subsystem;
}
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param name component name
*/
public static synchronized void addLW(Sendable sendable, String name) {
Component comp = getOrAdd(sendable);
if (liveWindowFactory != null) {
if (comp.m_builder != null) {
try {
comp.m_builder.close();
} catch (Exception e) {
// ignore
}
}
comp.m_builder = liveWindowFactory.get();
}
comp.m_liveWindow = true;
comp.m_name = name;
}
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param moduleType A string that defines the module name in the label for the value
* @param channel The channel number the device is plugged into
*/
public static synchronized void addLW(Sendable sendable, String moduleType, int channel) {
Component comp = getOrAdd(sendable);
if (liveWindowFactory != null) {
if (comp.m_builder != null) {
try {
comp.m_builder.close();
} catch (Exception e) {
// ignore
}
}
comp.m_builder = liveWindowFactory.get();
}
comp.m_liveWindow = true;
comp.setName(moduleType, channel);
}
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param moduleType A string that defines the module name in the label for the value
* @param moduleNumber The number of the particular module type
* @param channel The channel number the device is plugged into
*/
public static synchronized void addLW(
Sendable sendable, String moduleType, int moduleNumber, int channel) {
Component comp = getOrAdd(sendable);
if (liveWindowFactory != null) {
if (comp.m_builder != null) {
try {
comp.m_builder.close();
} catch (Exception e) {
// ignore
}
}
comp.m_builder = liveWindowFactory.get();
}
comp.m_liveWindow = true;
comp.setName(moduleType, moduleNumber, channel);
}
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param subsystem subsystem name
* @param name component name
*/
public static synchronized void addLW(Sendable sendable, String subsystem, String name) {
Component comp = getOrAdd(sendable);
if (liveWindowFactory != null) {
if (comp.m_builder != null) {
try {
comp.m_builder.close();
} catch (Exception e) {
// ignore
}
}
comp.m_builder = liveWindowFactory.get();
}
comp.m_liveWindow = true;
comp.m_name = name;
comp.m_subsystem = subsystem;
}
/**
* Adds a child object to an object. Adds the child object to the registry if it's not already
* present.
@@ -240,7 +130,7 @@ public final class SendableRegistry {
comp = new Component();
components.put(child, comp);
}
comp.m_parent = new WeakReference<>(parent);
// comp.m_parent = new WeakReference<>(parent);
}
/**
@@ -430,30 +320,6 @@ public final class SendableRegistry {
return comp.m_data[handle];
}
/**
* Enables LiveWindow for an object.
*
* @param sendable object
*/
public static synchronized void enableLiveWindow(Sendable sendable) {
Component comp = components.get(sendable);
if (comp != null) {
comp.m_liveWindow = true;
}
}
/**
* Disables LiveWindow for an object.
*
* @param sendable object
*/
public static synchronized void disableLiveWindow(Sendable sendable) {
Component comp = components.get(sendable);
if (comp != null) {
comp.m_liveWindow = false;
}
}
/**
* Publishes an object in the registry to a builder.
*
@@ -485,98 +351,4 @@ public final class SendableRegistry {
comp.m_builder.update();
}
}
/** Data passed to foreachLiveWindow() callback function. */
@SuppressWarnings("MemberName")
public static class CallbackData {
/** Sendable object. */
public Sendable sendable;
/** Name. */
public String name;
/** Subsystem. */
public String subsystem;
/** Parent sendable object. */
public Sendable parent;
/** Data stored in object with setData(). Update this to change the data. */
public AutoCloseable data;
/** Sendable builder for the sendable. */
public SendableBuilder builder;
/** Default constructor. */
public CallbackData() {}
}
// As foreachLiveWindow is single threaded, cache the components it
// iterates over to avoid risk of ConcurrentModificationException
private static List<Component> foreachComponents = new ArrayList<>();
/**
* Iterates over LiveWindow-enabled objects in the registry. It is *not* safe to call other
* SendableRegistry functions from the callback.
*
* @param dataHandle data handle to get data object passed to callback
* @param callback function to call for each object
*/
@SuppressWarnings("PMD.CompareObjectsWithEquals")
public static synchronized void foreachLiveWindow(
int dataHandle, Consumer<CallbackData> callback) {
CallbackData cbdata = new CallbackData();
foreachComponents.clear();
foreachComponents.addAll(components.values());
for (Component comp : foreachComponents) {
if (comp.m_builder == null || comp.m_sendable == null) {
continue;
}
cbdata.sendable = comp.m_sendable.get();
if (cbdata.sendable != null && comp.m_liveWindow) {
cbdata.name = comp.m_name;
cbdata.subsystem = comp.m_subsystem;
if (comp.m_parent != null) {
cbdata.parent = comp.m_parent.get();
} else {
cbdata.parent = null;
}
if (comp.m_data != null && dataHandle < comp.m_data.length) {
cbdata.data = comp.m_data[dataHandle];
} else {
cbdata.data = null;
}
cbdata.builder = comp.m_builder;
try {
callback.accept(cbdata);
} catch (Throwable throwable) {
Throwable cause = throwable.getCause();
if (cause != null) {
throwable = cause;
}
System.err.println("Unhandled exception calling LiveWindow for " + comp.m_name + ": ");
throwable.printStackTrace();
comp.m_liveWindow = false;
}
if (cbdata.data != null) {
if (comp.m_data == null) {
comp.m_data = new AutoCloseable[dataHandle + 1];
} else if (dataHandle >= comp.m_data.length) {
comp.m_data = Arrays.copyOf(comp.m_data, dataHandle + 1);
}
if (comp.m_data[dataHandle] != cbdata.data) {
if (comp.m_data[dataHandle] != null) {
try {
comp.m_data[dataHandle].close();
} catch (Exception e) {
// ignore
}
}
comp.m_data[dataHandle] = cbdata.data;
}
}
}
}
foreachComponents.clear();
}
}

101
wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
View File

@@ -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);
}
}
}

8
wpiutil/src/main/native/include/wpi/sendable/SendableBuilder.h
View File

@@ -48,14 +48,6 @@ class SendableBuilder {
*/
virtual void SetActuator(bool value) = 0;
/**
* Set the function that should be called to set the Sendable into a safe
* state. This is called when entering and exiting Live Window mode.
*
* @param func function
*/
virtual void SetSafeState(std::function<void()> func) = 0;
/**
* Add a boolean property.
*

101
wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
View File

@@ -4,13 +4,10 @@
#pragma once
#include <functional>
#include <memory>
#include <string>
#include <string_view>
#include "wpi/function_ref.h"
namespace wpi {
class Sendable;
@@ -18,7 +15,7 @@ class SendableBuilder;
/**
* The SendableRegistry class is the public interface for registering sensors
* and actuators for use on dashboards and LiveWindow.
* and actuators for use on dashboards.
*/
class SendableRegistry final {
public:
@@ -32,14 +29,6 @@ class SendableRegistry final {
*/
static void EnsureInitialized();
/**
* Sets the factory for LiveWindow builders.
*
* @param factory factory function
*/
static void SetLiveWindowBuilderFactory(
std::function<std::unique_ptr<SendableBuilder>()> factory);
/**
* Adds an object to the registry.
*
@@ -80,47 +69,6 @@ class SendableRegistry final {
static void Add(Sendable* sendable, std::string_view subsystem,
std::string_view name);
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param name component name
*/
static void AddLW(Sendable* sendable, std::string_view name);
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param moduleType A string that defines the module name in the label for
* the value
* @param channel The channel number the device is plugged into
*/
static void AddLW(Sendable* sendable, std::string_view moduleType,
int channel);
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param moduleType A string that defines the module name in the label for
* the value
* @param moduleNumber The number of the particular module type
* @param channel The channel number the device is plugged into
*/
static void AddLW(Sendable* sendable, std::string_view moduleType,
int moduleNumber, int channel);
/**
* Adds an object to the registry and LiveWindow.
*
* @param sendable object to add
* @param subsystem subsystem name
* @param name component name
*/
static void AddLW(Sendable* sendable, std::string_view subsystem,
std::string_view name);
/**
* Adds a child object to an object. Adds the child object to the registry
* if it's not already present.
@@ -255,20 +203,6 @@ class SendableRegistry final {
*/
static std::shared_ptr<void> GetData(Sendable* sendable, int handle);
/**
* Enables LiveWindow for an object.
*
* @param sendable object
*/
static void EnableLiveWindow(Sendable* sendable);
/**
* Disables LiveWindow for an object.
*
* @param sendable object
*/
static void DisableLiveWindow(Sendable* sendable);
/**
* Get unique id for an object. Since objects can move, use this instead
* of storing Sendable* directly if ownership is in question.
@@ -301,39 +235,6 @@ class SendableRegistry final {
* @param sendableUid sendable unique id
*/
static void Update(UID sendableUid);
/**
* Data passed to ForeachLiveWindow() callback function
*/
struct CallbackData {
CallbackData(Sendable* sendable_, std::string_view name_,
std::string_view subsystem_, wpi::Sendable* parent_,
std::shared_ptr<void>& data_, SendableBuilder& builder_)
: sendable(sendable_),
name(name_),
subsystem(subsystem_),
parent(parent_),
data(data_),
builder(builder_) {}
Sendable* sendable;
std::string_view name;
std::string_view subsystem;
Sendable* parent;
std::shared_ptr<void>& data;
SendableBuilder& builder;
};
/**
* Iterates over LiveWindow-enabled objects in the registry.
* It is *not* safe to call other SendableRegistry functions from the
* callback (this will likely deadlock).
*
* @param dataHandle data handle to get data pointer passed to callback
* @param callback function to call for each object
*/
static void ForeachLiveWindow(
int dataHandle, wpi::function_ref<void(CallbackData& cbdata)> callback);
};
} // namespace wpi