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Use new NetworkTables across WPILib (C++ and Java).

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Also make sure table listeners stop listening in their destructors.  This
might be better handled by moving the table itself into ITableListener and
providing cleanup functionality there.

A submodule is used to pull in ntcore.

Change-Id: I3031c1a768595cf0f8754c47e15cd423e2dbcce5
This commit is contained in:
Peter Johnson
2015-08-13 23:17:19 -07:00
committed by Brad Miller (WPI)
parent f65e697107
commit f89c5e150f
67 changed files with 512 additions and 1457 deletions
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39
wpilibc/wpilibC++Sim/src/PIDController.cpp
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@@ -93,6 +93,10 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
m_toleranceType = kNoTolerance;
}
PIDController::~PIDController() {
if (m_table != nullptr) m_table->RemoveTableListener(this);
}
/**
* Call the Calculate method as a non-static method. This avoids having to prepend
* all local variables in that method with the class pointer. This way the "this"
@@ -579,20 +583,27 @@ std::shared_ptr<ITable> PIDController::GetTable() const {
return m_table;
}
void PIDController::ValueChanged(std::shared_ptr<ITable> source, const std::string& key, EntryValue value, bool isNew){
if (key==kP || key==kI || key==kD || key==kF) {
if (m_P != m_table->GetNumber(kP) || m_I != m_table->GetNumber(kI) || m_D != m_table->GetNumber(kD) || m_F != m_table->GetNumber(kF) ) {
SetPID(m_table->GetNumber(kP, 0.0), m_table->GetNumber(kI, 0.0), m_table->GetNumber(kD, 0.0), m_table->GetNumber(kF, 0.0));
}
} else if (key==kSetpoint && m_setpoint != value.f) {
SetSetpoint(value.f);
} else if (key==kEnabled && m_enabled != value.b) {
if (value.b) {
Enable();
} else {
Disable();
}
}
void PIDController::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {
if (key == kP || key == kI || key == kD || key == kF) {
if (m_P != m_table->GetNumber(kP, 0.0) ||
m_I != m_table->GetNumber(kI, 0.0) ||
m_D != m_table->GetNumber(kD, 0.0) ||
m_F != m_table->GetNumber(kF, 0.0)) {
SetPID(m_table->GetNumber(kP, 0.0), m_table->GetNumber(kI, 0.0),
m_table->GetNumber(kD, 0.0), m_table->GetNumber(kF, 0.0));
}
} else if (key == kSetpoint && value->IsDouble() &&
m_setpoint != value->GetDouble()) {
SetSetpoint(value->GetDouble());
} else if (key == kEnabled && value->IsBoolean() &&
m_enabled != value->GetBoolean()) {
if (value->GetBoolean()) {
Enable();
} else {
Disable();
}
}
}
void PIDController::UpdateTable() {