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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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43
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
View File

@@ -13,8 +13,6 @@ import java.util.Vector;
import edu.wpi.first.wpilibj.HLUsageReporting;
import edu.wpi.first.wpilibj.NamedSendable;
import edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler;
import edu.wpi.first.wpilibj.networktables2.type.NumberArray;
import edu.wpi.first.wpilibj.networktables2.type.StringArray;
import edu.wpi.first.wpilibj.tables.ITable;
/**
@@ -318,49 +316,48 @@ public class Scheduler implements NamedSendable {
return "Scheduler";
}
private StringArray commands;
private NumberArray ids, toCancel;
/**
* {@inheritDoc}
*/
public void initTable(ITable subtable) {
m_table = subtable;
commands = new StringArray();
ids = new NumberArray();
toCancel = new NumberArray();
m_table.putValue("Names", commands);
m_table.putValue("Ids", ids);
m_table.putValue("Cancel", toCancel);
m_table.putStringArray("Names", new String[0]);
m_table.putNumberArray("Ids", new double[0]);
m_table.putNumberArray("Cancel", new double[0]);
}
private void updateTable() {
if (m_table != null) {
// Get the commands to cancel
m_table.retrieveValue("Cancel", toCancel);
if (toCancel.size() > 0) {
double[] toCancel = m_table.getNumberArray("Cancel", new double[0]);
if (toCancel.length > 0) {
for (LinkedListElement e = firstCommand; e != null; e = e.getNext()) {
for (int i = 0; i < toCancel.size(); i++) {
if (e.getData().hashCode() == toCancel.get(i)) {
for (int i = 0; i < toCancel.length; i++) {
if (e.getData().hashCode() == toCancel[i]) {
e.getData().cancel();
}
}
}
toCancel.setSize(0);
m_table.putValue("Cancel", toCancel);
m_table.putNumberArray("Cancel", new double[0]);
}
if (m_runningCommandsChanged) {
commands.setSize(0);
ids.setSize(0);
// Set the the running commands
int n = 0;
for (LinkedListElement e = firstCommand; e != null; e = e.getNext()) {
commands.add(e.getData().getName());
ids.add(e.getData().hashCode());
n++;
}
m_table.putValue("Names", commands);
m_table.putValue("Ids", ids);
String[] commands = new String[n];
double[] ids = new double[n];
n = 0;
for (LinkedListElement e = firstCommand; e != null; e = e.getNext()) {
commands[n] = e.getData().getName();
ids[n] = e.getData().hashCode();
n++;
}
m_table.putStringArray("Names", commands);
m_table.putNumberArray("Ids", ids);
}
}
}

13
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
View File

@@ -8,10 +8,10 @@ package edu.wpi.first.wpilibj.smartdashboard;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.networktables2.type.StringArray;
import edu.wpi.first.wpilibj.networktables2.util.List;
import edu.wpi.first.wpilibj.tables.ITable;
import java.util.ArrayList;
/**
* The {@link SendableChooser} class is a useful tool for presenting a selection
* of options to the {@link SmartDashboard}.
@@ -44,8 +44,8 @@ public class SendableChooser implements Sendable {
/**
* A table linking strings to the objects the represent
*/
private StringArray choices = new StringArray();
private List values = new List();
private ArrayList<String> choices = new ArrayList<String>();
private ArrayList<Object> values = new ArrayList<Object>();
private String defaultChoice = null;
private Object defaultValue = null;
@@ -77,8 +77,9 @@ public class SendableChooser implements Sendable {
// not found
choices.add(name);
values.add(object);
if (table != null) {
table.putValue(OPTIONS, choices);
table.putStringArray(OPTIONS, choices.toArray(new String[0]));
}
}
@@ -131,7 +132,7 @@ public class SendableChooser implements Sendable {
public void initTable(ITable table) {
this.table = table;
if (table != null) {
table.putValue(OPTIONS, choices);
table.putStringArray(OPTIONS, choices.toArray(new String[0]));
if (defaultChoice != null) {
table.putString(DEFAULT, defaultChoice);
}