Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update LiveWindow to provide continuous telemetry. (#771)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

69
wpilibc/src/main/native/cpp/Commands/Command.cpp
View File

@@ -11,16 +11,14 @@
#include "Commands/CommandGroup.h"
#include "Commands/Scheduler.h"
#include "LiveWindow/LiveWindow.h"
#include "RobotState.h"
#include "SmartDashboard/SendableBuilder.h"
#include "Timer.h"
#include "WPIErrors.h"
using namespace frc;
static const std::string kName = ".name";
static const std::string kRunning = "running";
static const std::string kIsParented = ".isParented";
int Command::m_commandCounter = 0;
/**
@@ -35,7 +33,7 @@ Command::Command() : Command("", -1.0) {}
*
* @param name the name for this command
*/
Command::Command(const std::string& name) : Command(name, -1.0) {}
Command::Command(const llvm::Twine& name) : Command(name, -1.0) {}
/**
* Creates a new command with the given timeout and a default name.
@@ -52,7 +50,8 @@ Command::Command(double timeout) : Command("", timeout) {}
* @param timeout the time (in seconds) before this command "times out"
* @see IsTimedOut()
*/
Command::Command(const std::string& name, double timeout) {
Command::Command(const llvm::Twine& name, double timeout)
: SendableBase(false) {
// We use -1.0 to indicate no timeout.
if (timeout < 0.0 && timeout != -1.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
@@ -60,17 +59,14 @@ Command::Command(const std::string& name, double timeout) {
m_timeout = timeout;
// If name contains an empty string
if (name.length() == 0) {
m_name = std::string("Command_") + std::string(typeid(*this).name());
if (name.isTriviallyEmpty() ||
(name.isSingleStringRef() && name.getSingleStringRef().empty())) {
SetName("Command_" + llvm::Twine(typeid(*this).name()));
} else {
m_name = name;
SetName(name);
}
}
Command::~Command() {
if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
}
/**
* Get the ID (sequence number) for this command.
*
@@ -144,7 +140,6 @@ void Command::Removed() {
m_initialized = false;
m_canceled = false;
m_running = false;
if (m_runningEntry) m_runningEntry.SetBoolean(false);
}
/**
@@ -291,10 +286,16 @@ void Command::SetParent(CommandGroup* parent) {
} else {
LockChanges();
m_parent = parent;
if (m_isParentedEntry) m_isParentedEntry.SetBoolean(true);
}
}
/**
* Returns whether the command has a parent.
*
* @param True if the command has a parent.
*/
bool Command::IsParented() const { return m_parent != nullptr; }
/**
* Clears list of subsystem requirements.
*
@@ -317,7 +318,6 @@ void Command::ClearRequirements() { m_requirements.clear(); }
void Command::StartRunning() {
m_running = true;
m_startTime = -1;
if (m_runningEntry) m_runningEntry.SetBoolean(true);
}
/**
@@ -422,28 +422,17 @@ void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
*/
bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
std::string Command::GetName() const { return m_name; }
std::string Command::GetSmartDashboardType() const { return "Command"; }
void Command::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
if (subtable) {
subtable->GetEntry(kName).SetString(GetName());
m_runningEntry = subtable->GetEntry(kRunning);
m_runningEntry.SetBoolean(IsRunning());
m_isParentedEntry = subtable->GetEntry(kIsParented);
m_isParentedEntry.SetBoolean(m_parent != nullptr);
m_runningListener = m_runningEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBoolean()) return;
if (event.value->GetBoolean()) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
},
NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
}
void Command::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
builder.AddStringProperty(".name", [=]() { return GetName(); }, nullptr);
builder.AddBooleanProperty("running", [=]() { return IsRunning(); },
[=](bool value) {
if (value) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
});
builder.AddBooleanProperty(".isParented", [=]() { return IsParented(); },
nullptr);
}

11
wpilibc/src/main/native/cpp/Commands/PIDCommand.cpp
View File

@@ -7,6 +7,8 @@
#include "Commands/PIDCommand.h"
#include "SmartDashboard/SendableBuilder.h"
using namespace frc;
PIDCommand::PIDCommand(const std::string& name, double p, double i, double d,
@@ -65,9 +67,8 @@ double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }
double PIDCommand::GetPosition() { return ReturnPIDInput(); }
std::string PIDCommand::GetSmartDashboardType() const { return "PIDCommand"; }
void PIDCommand::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
m_controller->InitTable(subtable);
Command::InitTable(subtable);
void PIDCommand::InitSendable(SendableBuilder& builder) {
m_controller->InitSendable(builder);
Command::InitSendable(builder);
builder.SetSmartDashboardType("PIDCommand");
}

13
wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
View File

@@ -23,6 +23,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
double d)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -38,6 +39,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
double d, double f)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -58,6 +60,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
: Subsystem(name) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
AddChild("PIDController", m_controller);
}
/**
@@ -72,6 +75,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
PIDSubsystem::PIDSubsystem(double p, double i, double d)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -87,6 +91,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d)
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -106,6 +111,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
: Subsystem("PIDSubsystem") {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
AddChild("PIDController", m_controller);
}
/**
@@ -233,10 +239,3 @@ double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
std::string PIDSubsystem::GetSmartDashboardType() const { return "PIDCommand"; }
void PIDSubsystem::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
m_controller->InitTable(subtable);
Subsystem::InitTable(subtable);
}

43
wpilibc/src/main/native/cpp/Commands/Scheduler.cpp
View File

@@ -13,11 +13,15 @@
#include "Buttons/ButtonScheduler.h"
#include "Commands/Subsystem.h"
#include "HLUsageReporting.h"
#include "SmartDashboard/SendableBuilder.h"
#include "WPIErrors.h"
using namespace frc;
Scheduler::Scheduler() { HLUsageReporting::ReportScheduler(); }
Scheduler::Scheduler() {
HLUsageReporting::ReportScheduler();
SetName("Scheduler");
}
/**
* Returns the Scheduler, creating it if one does not exist.
@@ -161,8 +165,6 @@ void Scheduler::Run() {
}
lock->ConfirmCommand();
}
UpdateTable();
}
/**
@@ -223,12 +225,12 @@ void Scheduler::ResetAll() {
m_cancelEntry = nt::NetworkTableEntry();
}
/**
* Update the network tables associated with the Scheduler object on the
* SmartDashboard.
*/
void Scheduler::UpdateTable() {
if (m_cancelEntry && m_namesEntry && m_idsEntry) {
void Scheduler::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
m_namesEntry = builder.GetEntry("Names");
m_idsEntry = builder.GetEntry("Ids");
m_cancelEntry = builder.GetEntry("Cancel");
builder.SetUpdateTable([=]() {
// Get the list of possible commands to cancel
auto new_toCancel = m_cancelEntry.GetValue();
if (new_toCancel)
@@ -264,26 +266,5 @@ void Scheduler::UpdateTable() {
m_namesEntry.SetStringArray(commands);
m_idsEntry.SetDoubleArray(ids);
}
}
}
std::string Scheduler::GetName() const { return "Scheduler"; }
std::string Scheduler::GetType() const { return "Scheduler"; }
std::string Scheduler::GetSmartDashboardType() const { return "Scheduler"; }
void Scheduler::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
if (subTable) {
m_namesEntry = subTable->GetEntry("Names");
m_idsEntry = subTable->GetEntry("Ids");
m_cancelEntry = subTable->GetEntry("Cancel");
m_namesEntry.SetStringArray(commands);
m_idsEntry.SetDoubleArray(ids);
m_cancelEntry.SetDoubleArray(toCancel);
} else {
m_namesEntry = nt::NetworkTableEntry();
m_idsEntry = nt::NetworkTableEntry();
m_cancelEntry = nt::NetworkTableEntry();
}
});
}

150
wpilibc/src/main/native/cpp/Commands/Subsystem.cpp
View File

@@ -9,6 +9,8 @@
#include "Commands/Command.h"
#include "Commands/Scheduler.h"
#include "LiveWindow/LiveWindow.h"
#include "SmartDashboard/SendableBuilder.h"
#include "WPIErrors.h"
using namespace frc;
@@ -18,10 +20,11 @@ using namespace frc;
*
* @param name the name of the subsystem
*/
Subsystem::Subsystem(const std::string& name) {
m_name = name;
Subsystem::Subsystem(const llvm::Twine& name) {
SetName(name, name);
Scheduler::GetInstance()->RegisterSubsystem(this);
}
/**
* Initialize the default command for this subsystem.
*
@@ -64,14 +67,6 @@ void Subsystem::SetDefaultCommand(Command* command) {
m_defaultCommand = command;
}
if (m_hasDefaultEntry && m_defaultEntry) {
if (m_defaultCommand != nullptr) {
m_hasDefaultEntry.SetBoolean(true);
m_defaultEntry.SetString(m_defaultCommand->GetName());
} else {
m_hasDefaultEntry.SetBoolean(false);
}
}
}
/**
@@ -87,6 +82,20 @@ Command* Subsystem::GetDefaultCommand() {
return m_defaultCommand;
}
/**
* Returns the default command name, or empty string is there is none.
*
* @return the default command name
*/
llvm::StringRef Subsystem::GetDefaultCommandName() {
Command* defaultCommand = GetDefaultCommand();
if (defaultCommand) {
return defaultCommand->GetName();
} else {
return llvm::StringRef();
}
}
/**
* Sets the current command.
*
@@ -104,6 +113,20 @@ void Subsystem::SetCurrentCommand(Command* command) {
*/
Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }
/**
* Returns the current command name, or empty string if no current command.
*
* @return the current command name
*/
llvm::StringRef Subsystem::GetCurrentCommandName() const {
Command* currentCommand = GetCurrentCommand();
if (currentCommand) {
return currentCommand->GetName();
} else {
return llvm::StringRef();
}
}
/**
* When the run method of the scheduler is called this method will be called.
*/
@@ -118,41 +141,78 @@ void Subsystem::Periodic() {}
* avoid that situation.
*/
void Subsystem::ConfirmCommand() {
if (m_currentCommandChanged) {
if (m_hasCommandEntry && m_commandEntry) {
if (m_currentCommand != nullptr) {
m_hasCommandEntry.SetBoolean(true);
m_commandEntry.SetString(m_currentCommand->GetName());
} else {
m_hasCommandEntry.SetBoolean(false);
}
}
m_currentCommandChanged = false;
}
if (m_currentCommandChanged) m_currentCommandChanged = false;
}
std::string Subsystem::GetName() const { return m_name; }
std::string Subsystem::GetSmartDashboardType() const { return "Subsystem"; }
void Subsystem::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
if (subtable != nullptr) {
m_hasDefaultEntry = subtable->GetEntry("hasDefault");
m_defaultEntry = subtable->GetEntry("default");
m_hasCommandEntry = subtable->GetEntry("hasCommand");
m_commandEntry = subtable->GetEntry("command");
if (m_defaultCommand != nullptr) {
m_hasDefaultEntry.SetBoolean(true);
m_defaultEntry.SetString(m_defaultCommand->GetName());
} else {
m_hasDefaultEntry.SetBoolean(false);
}
if (m_currentCommand != nullptr) {
m_hasCommandEntry.SetBoolean(true);
m_commandEntry.SetString(m_currentCommand->GetName());
} else {
m_hasCommandEntry.SetBoolean(false);
}
}
/**
* Associate a Sendable with this Subsystem.
* Also update the child's name.
*
* @param name name to give child
* @param child sendable
*/
void Subsystem::AddChild(const llvm::Twine& name,
std::shared_ptr<Sendable> child) {
AddChild(name, *child);
}
/**
* Associate a Sendable with this Subsystem.
* Also update the child's name.
*
* @param name name to give child
* @param child sendable
*/
void Subsystem::AddChild(const llvm::Twine& name, Sendable* child) {
AddChild(name, *child);
}
/**
* Associate a Sendable with this Subsystem.
* Also update the child's name.
*
* @param name name to give child
* @param child sendable
*/
void Subsystem::AddChild(const llvm::Twine& name, Sendable& child) {
child.SetName(GetSubsystem(), name);
LiveWindow::GetInstance()->Add(&child);
}
/**
* Associate a {@link Sendable} with this Subsystem.
*
* @param child sendable
*/
void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
/**
* Associate a {@link Sendable} with this Subsystem.
*
* @param child sendable
*/
void Subsystem::AddChild(Sendable* child) { AddChild(*child); }
/**
* Associate a {@link Sendable} with this Subsystem.
*
* @param child sendable
*/
void Subsystem::AddChild(Sendable& child) {
child.SetSubsystem(GetSubsystem());
LiveWindow::GetInstance()->Add(&child);
}
void Subsystem::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Subsystem");
builder.AddBooleanProperty(
"hasDefault", [=]() { return m_defaultCommand != nullptr; }, nullptr);
builder.AddStringProperty("default",
[=]() { return GetDefaultCommandName(); }, nullptr);
builder.AddBooleanProperty(
"hasCommand", [=]() { return m_currentCommand != nullptr; }, nullptr);
builder.AddStringProperty("command",
[=]() { return GetCurrentCommandName(); }, nullptr);
}