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Update LiveWindow to provide continuous telemetry. (#771)

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LiveWindow.updateValues() is now called from IterativeRobotBase on every
loop iteration.  Telemetry for all WPILib classes is enabled by default;
it can be disabled for specific classes using LiveWindow.disableTelemetry(),
or all telemetry can be disabled using LiveWindow.disableAllTelemetry().

This necessitated changing the hook methodology into other classes to
be more property-based rather than each class providing multiple functions.
This had the benefit of reducing boilerplate and increasing consistency.

- Remove NamedSendable, add name to Sendable.

- Provide SendableBase abstract class.

- Deprecate LiveWindow addSensor/addActuator interfaces.

- Add LiveWindow support to drive classes.

- Add addChild() helper functions to Subsystem.

- Fix inheritance hierarchy.  Now only sensors inherit from SensorBase.
  Other devices inherit from some combination of SendableBase, ErrorBase, or
  nothing.
This commit is contained in:
Peter Johnson
2017-12-04 23:28:33 -08:00
committed by GitHub
parent 3befc7015b
commit f9bece2ffb
213 changed files with 3704 additions and 3758 deletions
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64
wpilibc/src/main/native/cpp/ADXL362.cpp
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@@ -9,29 +9,27 @@
#include <HAL/HAL.h>
#include "DigitalInput.h"
#include "DigitalOutput.h"
#include "DriverStation.h"
#include "LiveWindow/LiveWindow.h"
#include "SmartDashboard/SendableBuilder.h"
using namespace frc;
static int kRegWrite = 0x0A;
static int kRegRead = 0x0B;
static constexpr int kRegWrite = 0x0A;
static constexpr int kRegRead = 0x0B;
static int kPartIdRegister = 0x02;
static int kDataRegister = 0x0E;
static int kFilterCtlRegister = 0x2C;
static int kPowerCtlRegister = 0x2D;
static constexpr int kPartIdRegister = 0x02;
static constexpr int kDataRegister = 0x0E;
static constexpr int kFilterCtlRegister = 0x2C;
static constexpr int kPowerCtlRegister = 0x2D;
// static int kFilterCtl_Range2G = 0x00;
// static int kFilterCtl_Range4G = 0x40;
// static int kFilterCtl_Range8G = 0x80;
static int kFilterCtl_ODR_100Hz = 0x03;
// static constexpr int kFilterCtl_Range2G = 0x00;
// static constexpr int kFilterCtl_Range4G = 0x40;
// static constexpr int kFilterCtl_Range8G = 0x80;
static constexpr int kFilterCtl_ODR_100Hz = 0x03;
static int kPowerCtl_UltraLowNoise = 0x20;
// static int kPowerCtl_AutoSleep = 0x04;
static int kPowerCtl_Measure = 0x02;
static constexpr int kPowerCtl_UltraLowNoise = 0x20;
// static constexpr int kPowerCtl_AutoSleep = 0x04;
static constexpr int kPowerCtl_Measure = 0x02;
/**
* Constructor. Uses the onboard CS1.
@@ -75,7 +73,7 @@ ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
HAL_Report(HALUsageReporting::kResourceType_ADXL362, port);
LiveWindow::GetInstance()->AddSensor("ADXL362", port, this);
SetName("ADXL362", port);
}
void ADXL362::SetRange(Range range) {
@@ -163,25 +161,15 @@ ADXL362::AllAxes ADXL362::GetAccelerations() {
return data;
}
std::string ADXL362::GetSmartDashboardType() const {
return "3AxisAccelerometer";
}
void ADXL362::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
if (subtable) {
m_xEntry = subtable->GetEntry("X");
m_yEntry = subtable->GetEntry("Y");
m_zEntry = subtable->GetEntry("Z");
UpdateTable();
} else {
m_xEntry = nt::NetworkTableEntry();
m_yEntry = nt::NetworkTableEntry();
m_zEntry = nt::NetworkTableEntry();
}
}
void ADXL362::UpdateTable() {
if (m_xEntry) m_xEntry.SetDouble(GetX());
if (m_yEntry) m_yEntry.SetDouble(GetY());
if (m_zEntry) m_zEntry.SetDouble(GetZ());
void ADXL362::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("3AxisAccelerometer");
auto x = builder.GetEntry("X").GetHandle();
auto y = builder.GetEntry("Y").GetHandle();
auto z = builder.GetEntry("Z").GetHandle();
builder.SetUpdateTable([=]() {
auto data = GetAccelerations();
nt::NetworkTableEntry(x).SetDouble(data.XAxis);
nt::NetworkTableEntry(y).SetDouble(data.YAxis);
nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
});
}