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Update Java SmartDashboard and LiveWindow to match C++

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This commit is contained in:
Peter Johnson
2019-10-18 13:36:01 -07:00
parent 05c25deb7b
commit f3ad927f45
4 changed files with 133 additions and 81 deletions
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56
wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
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@@ -12,7 +12,6 @@ import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
@@ -22,7 +21,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
*/
public class LiveWindow {
private static class Component {
final SendableBuilderImpl m_builder = new SendableBuilderImpl();
boolean m_firstTime = true;
boolean m_telemetryEnabled = true;
}
@@ -73,13 +71,9 @@ public class LiveWindow {
scheduler.removeAll();
} else {
System.out.println("stopping live window mode.");
SendableRegistry.foreachLiveWindow(dataHandle,
(sendable, name, subsystem, parent, data) -> {
if (data != null) {
((Component) data).m_builder.stopLiveWindowMode();
}
return data;
});
SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
cbdata.builder.stopLiveWindowMode();
});
scheduler.enable();
}
enabledEntry.setBoolean(enabled);
@@ -111,12 +105,11 @@ public class LiveWindow {
*/
public static synchronized void disableAllTelemetry() {
telemetryEnabled = false;
SendableRegistry.foreachLiveWindow(dataHandle, (sendable, name, subsystem, parent, data) -> {
if (data == null) {
data = new Component();
SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
if (cbdata.data == null) {
cbdata.data = new Component();
}
((Component) data).m_telemetryEnabled = false;
return data;
((Component) cbdata.data).m_telemetryEnabled = false;
});
}
@@ -133,19 +126,19 @@ public class LiveWindow {
return;
}
SendableRegistry.foreachLiveWindow(dataHandle, (sendable, name, subsystem, parent, data) -> {
if (sendable == null || parent != null) {
return data;
SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
if (cbdata.sendable == null || cbdata.parent != null) {
return;
}
if (data == null) {
data = new Component();
if (cbdata.data == null) {
cbdata.data = new Component();
}
Component component = (Component) data;
Component component = (Component) cbdata.data;
if (!liveWindowEnabled && !component.m_telemetryEnabled) {
return data;
return;
}
if (component.m_firstTime) {
@@ -153,30 +146,29 @@ public class LiveWindow {
// 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 (name.isEmpty()) {
return data;
if (cbdata.name.isEmpty()) {
return;
}
NetworkTable ssTable = liveWindowTable.getSubTable(subsystem);
NetworkTable ssTable = liveWindowTable.getSubTable(cbdata.subsystem);
NetworkTable table;
// Treat name==subsystem as top level of subsystem
if (name.equals(subsystem)) {
if (cbdata.name.equals(cbdata.subsystem)) {
table = ssTable;
} else {
table = ssTable.getSubTable(name);
table = ssTable.getSubTable(cbdata.name);
}
table.getEntry(".name").setString(name);
component.m_builder.setTable(table);
sendable.initSendable(component.m_builder);
table.getEntry(".name").setString(cbdata.name);
cbdata.builder.setTable(table);
cbdata.sendable.initSendable(cbdata.builder);
ssTable.getEntry(".type").setString("LW Subsystem");
component.m_firstTime = false;
}
if (startLiveWindow) {
component.m_builder.startLiveWindowMode();
cbdata.builder.startLiveWindowMode();
}
component.m_builder.updateTable();
return data;
cbdata.builder.updateTable();
});
startLiveWindow = false;