Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +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

21
wpilibc/src/main/native/include/ADXL345_I2C.h
View File

@@ -7,13 +7,9 @@
#pragma once
#include <memory>
#include <string>
#include "I2C.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -24,7 +20,7 @@ namespace frc {
* an I2C bus. This class assumes the default (not alternate) sensor address of
* 0x1D (7-bit address).
*/
class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
class ADXL345_I2C : public SensorBase, public Accelerometer {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
@@ -36,7 +32,7 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
int deviceAddress = kAddress);
virtual ~ADXL345_I2C() = default;
~ADXL345_I2C() override = default;
ADXL345_I2C(const ADXL345_I2C&) = delete;
ADXL345_I2C& operator=(const ADXL345_I2C&) = delete;
@@ -50,11 +46,7 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
void InitSendable(SendableBuilder& builder) override;
protected:
I2C m_i2c;
@@ -79,11 +71,6 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
private:
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
};
} // namespace frc

23
wpilibc/src/main/native/include/ADXL345_SPI.h
View File

@@ -7,27 +7,19 @@
#pragma once
#include <memory>
#include <string>
#include "LiveWindow/LiveWindowSendable.h"
#include "SPI.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
class DigitalInput;
class DigitalOutput;
/**
* ADXL345 Accelerometer on SPI.
*
* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
* via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
class ADXL345_SPI : public SensorBase, public Accelerometer {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
@@ -38,7 +30,7 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
};
explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
virtual ~ADXL345_SPI() = default;
~ADXL345_SPI() override = default;
ADXL345_SPI(const ADXL345_SPI&) = delete;
ADXL345_SPI& operator=(const ADXL345_SPI&) = delete;
@@ -52,11 +44,7 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
void InitSendable(SendableBuilder& builder) override;
protected:
SPI m_spi;
@@ -82,11 +70,6 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
private:
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
};
} // namespace frc

20
wpilibc/src/main/native/include/ADXL362.h
View File

@@ -7,26 +7,18 @@
#pragma once
#include <memory>
#include <string>
#include "LiveWindow/LiveWindowSendable.h"
#include "SPI.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
class DigitalInput;
class DigitalOutput;
/**
* ADXL362 SPI Accelerometer.
*
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
*/
class ADXL362 : public Accelerometer, public LiveWindowSendable {
class ADXL362 : public SensorBase, public Accelerometer {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
@@ -52,19 +44,11 @@ class ADXL362 : public Accelerometer, public LiveWindowSendable {
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
void InitSendable(SendableBuilder& builder) override;
private:
SPI m_spi;
double m_gsPerLSB = 0.001;
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
};
} // namespace frc

17
wpilibc/src/main/native/include/AnalogAccelerometer.h
View File

@@ -8,13 +8,10 @@
#pragma once
#include <memory>
#include <string>
#include "AnalogInput.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -25,25 +22,19 @@ namespace frc {
* sensors have multiple axis and can be treated as multiple devices. Each is
* calibrated by finding the center value over a period of time.
*/
class AnalogAccelerometer : public SensorBase,
public PIDSource,
public LiveWindowSendable {
class AnalogAccelerometer : public SensorBase, public PIDSource {
public:
explicit AnalogAccelerometer(int channel);
explicit AnalogAccelerometer(AnalogInput* channel);
explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
virtual ~AnalogAccelerometer() = default;
~AnalogAccelerometer() override = default;
double GetAcceleration() const;
void SetSensitivity(double sensitivity);
void SetZero(double zero);
double PIDGet() override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
private:
void InitAccelerometer();
@@ -51,8 +42,6 @@ class AnalogAccelerometer : public SensorBase,
std::shared_ptr<AnalogInput> m_analogInput;
double m_voltsPerG = 1.0;
double m_zeroGVoltage = 2.5;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

19
wpilibc/src/main/native/include/AnalogInput.h
View File

@@ -9,15 +9,10 @@
#include <stdint.h>
#include <memory>
#include <string>
#include <HAL/Types.h>
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -33,9 +28,7 @@ namespace frc {
* are divided by the number of samples to retain the resolution, but get more
* stable values.
*/
class AnalogInput : public SensorBase,
public PIDSource,
public LiveWindowSendable {
class AnalogInput : public SensorBase, public PIDSource {
friend class AnalogTrigger;
friend class AnalogGyro;
@@ -45,7 +38,7 @@ class AnalogInput : public SensorBase,
static constexpr int kAccumulatorChannels[kAccumulatorNumChannels] = {0, 1};
explicit AnalogInput(int channel);
virtual ~AnalogInput();
~AnalogInput() override;
int GetValue() const;
int GetAverageValue() const;
@@ -78,19 +71,13 @@ class AnalogInput : public SensorBase,
double PIDGet() override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;
// TODO: Adjust HAL to avoid use of raw pointers.
HAL_AnalogInputHandle m_port;
int64_t m_accumulatorOffset;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

20
wpilibc/src/main/native/include/AnalogOutput.h
View File

@@ -7,40 +7,30 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/AnalogOutput.h>
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
#include "ErrorBase.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
/**
* MXP analog output class.
*/
class AnalogOutput : public SensorBase, public LiveWindowSendable {
class AnalogOutput : public ErrorBase, public SendableBase {
public:
explicit AnalogOutput(int channel);
virtual ~AnalogOutput();
~AnalogOutput() override;
void SetVoltage(double voltage);
double GetVoltage() const;
int GetChannel();
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
protected:
int m_channel;
HAL_AnalogOutputHandle m_port;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

28
wpilibc/src/main/native/include/AnalogPotentiometer.h
View File

@@ -8,12 +8,10 @@
#pragma once
#include <memory>
#include <string>
#include "AnalogInput.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "interfaces/Potentiometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -23,7 +21,7 @@ namespace frc {
* units you choose, by way of the scaling and offset constants passed to the
* constructor.
*/
class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
class AnalogPotentiometer : public SensorBase, public Potentiometer {
public:
/**
* AnalogPotentiometer constructor.
@@ -52,7 +50,7 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
double fullRange = 1.0, double offset = 0.0);
virtual ~AnalogPotentiometer() = default;
~AnalogPotentiometer() override = default;
/**
* Get the current reading of the potentiomer.
@@ -68,29 +66,11 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
*/
double PIDGet() override;
/*
* Live Window code, only does anything if live window is activated.
*/
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void UpdateTable() override;
/**
* AnalogPotentiometers don't have to do anything special when entering the
* LiveWindow.
*/
void StartLiveWindowMode() override {}
/**
* AnalogPotentiometers don't have to do anything special when exiting the
* LiveWindow.
*/
void StopLiveWindowMode() override {}
void InitSendable(SendableBuilder& builder) override;
private:
std::shared_ptr<AnalogInput> m_analog_input;
double m_fullRange, m_offset;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

4
wpilibc/src/main/native/include/AnalogTrigger.h
View File

@@ -24,7 +24,7 @@ class AnalogTrigger : public SensorBase {
public:
explicit AnalogTrigger(int channel);
explicit AnalogTrigger(AnalogInput* channel);
virtual ~AnalogTrigger();
~AnalogTrigger() override;
void SetLimitsVoltage(double lower, double upper);
void SetLimitsRaw(int lower, int upper);
@@ -36,6 +36,8 @@ class AnalogTrigger : public SensorBase {
std::shared_ptr<AnalogTriggerOutput> CreateOutput(
AnalogTriggerType type) const;
void InitSendable(SendableBuilder& builder) override;
private:
int m_index;
HAL_AnalogTriggerHandle m_trigger;

4
wpilibc/src/main/native/include/AnalogTriggerOutput.h
View File

@@ -50,7 +50,7 @@ class AnalogTriggerOutput : public DigitalSource {
friend class AnalogTrigger;
public:
virtual ~AnalogTriggerOutput();
~AnalogTriggerOutput() override;
bool Get() const;
// DigitalSource interface
@@ -59,6 +59,8 @@ class AnalogTriggerOutput : public DigitalSource {
bool IsAnalogTrigger() const override;
int GetChannel() const override;
void InitSendable(SendableBuilder& builder) override;
protected:
AnalogTriggerOutput(const AnalogTrigger& trigger,
AnalogTriggerType outputType);

21
wpilibc/src/main/native/include/BuiltInAccelerometer.h
View File

@@ -7,13 +7,8 @@
#pragma once
#include <memory>
#include <string>
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -22,12 +17,9 @@ namespace frc {
*
* This class allows access to the roboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public Accelerometer,
public SensorBase,
public LiveWindowSendable {
class BuiltInAccelerometer : public SensorBase, public Accelerometer {
public:
explicit BuiltInAccelerometer(Range range = kRange_8G);
virtual ~BuiltInAccelerometer() = default;
// Accelerometer interface
void SetRange(Range range) override;
@@ -35,16 +27,7 @@ class BuiltInAccelerometer : public Accelerometer,
double GetY() override;
double GetZ() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<NetworkTable> subtable) override;
void UpdateTable() override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
private:
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;
nt::NetworkTableEntry m_zEntry;
void InitSendable(SendableBuilder& builder) override;
};
} // namespace frc

17
wpilibc/src/main/native/include/Buttons/Trigger.h
View File

@@ -7,11 +7,9 @@
#pragma once
#include <memory>
#include <string>
#include <atomic>
#include "SmartDashboard/Sendable.h"
#include "networktables/NetworkTableEntry.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -30,10 +28,10 @@ class Command;
* only have to write the {@link Trigger#Get()} method to get the full
* functionality of the Trigger class.
*/
class Trigger : public Sendable {
class Trigger : public SendableBase {
public:
Trigger() = default;
virtual ~Trigger() = default;
~Trigger() override = default;
bool Grab();
virtual bool Get() = 0;
void WhenActive(Command* command);
@@ -42,11 +40,10 @@ class Trigger : public Sendable {
void CancelWhenActive(Command* command);
void ToggleWhenActive(Command* command);
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
void InitSendable(SendableBuilder& builder) override;
protected:
nt::NetworkTableEntry m_pressedEntry;
private:
std::atomic_bool m_sendablePressed{false};
};
} // namespace frc

26
wpilibc/src/main/native/include/Commands/Command.h
View File

@@ -11,9 +11,10 @@
#include <set>
#include <string>
#include <llvm/Twine.h>
#include "ErrorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include "networktables/NetworkTableEntry.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -44,16 +45,16 @@ class Subsystem;
* @see CommandGroup
* @see Subsystem
*/
class Command : public ErrorBase, public NamedSendable {
class Command : public ErrorBase, public SendableBase {
friend class CommandGroup;
friend class Scheduler;
public:
Command();
explicit Command(const std::string& name);
explicit Command(const llvm::Twine& name);
explicit Command(double timeout);
Command(const std::string& name, double timeout);
virtual ~Command();
Command(const llvm::Twine& name, double timeout);
~Command() override = default;
double TimeSinceInitialized() const;
void Requires(Subsystem* s);
bool IsCanceled() const;
@@ -76,6 +77,7 @@ class Command : public ErrorBase, public NamedSendable {
bool IsTimedOut() const;
bool AssertUnlocked(const std::string& message);
void SetParent(CommandGroup* parent);
bool IsParented() const;
void ClearRequirements();
virtual void Initialize();
@@ -116,9 +118,6 @@ class Command : public ErrorBase, public NamedSendable {
void StartRunning();
void StartTiming();
// The name of this command
std::string m_name;
// The time since this command was initialized
double m_startTime = -1;
@@ -153,14 +152,7 @@ class Command : public ErrorBase, public NamedSendable {
static int m_commandCounter;
public:
std::string GetName() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
private:
nt::NetworkTableEntry m_runningEntry;
nt::NetworkTableEntry m_isParentedEntry;
NT_EntryListener m_runningListener = 0;
void InitSendable(SendableBuilder& builder) override;
};
} // namespace frc

3
wpilibc/src/main/native/include/Commands/PIDCommand.h
View File

@@ -54,8 +54,7 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource {
std::shared_ptr<PIDController> m_controller;
public:
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
void InitSendable(SendableBuilder& builder) override;
};
} // namespace frc

6
wpilibc/src/main/native/include/Commands/PIDSubsystem.h
View File

@@ -35,7 +35,7 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
PIDSubsystem(double p, double i, double d);
PIDSubsystem(double p, double i, double d, double f);
PIDSubsystem(double p, double i, double d, double f, double period);
virtual ~PIDSubsystem() = default;
~PIDSubsystem() override = default;
void Enable();
void Disable();
@@ -66,10 +66,6 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
private:
// The internal PIDController
std::shared_ptr<PIDController> m_controller;
public:
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
};
} // namespace frc

14
wpilibc/src/main/native/include/Commands/Scheduler.h
View File

@@ -16,9 +16,7 @@
#include "Commands/Command.h"
#include "ErrorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include "SmartDashboard/SmartDashboard.h"
#include "networktables/NetworkTable.h"
#include "SmartDashboard/SendableBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -26,7 +24,7 @@ namespace frc {
class ButtonScheduler;
class Subsystem;
class Scheduler : public ErrorBase, public NamedSendable {
class Scheduler : public ErrorBase, public SendableBase {
public:
static Scheduler* GetInstance();
@@ -39,15 +37,11 @@ class Scheduler : public ErrorBase, public NamedSendable {
void ResetAll();
void SetEnabled(bool enabled);
void UpdateTable();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
std::string GetName() const;
std::string GetType() const;
void InitSendable(SendableBuilder& builder) override;
private:
Scheduler();
virtual ~Scheduler() = default;
~Scheduler() override = default;
void ProcessCommandAddition(Command* command);

33
wpilibc/src/main/native/include/Commands/Subsystem.h
View File

@@ -8,49 +8,50 @@
#pragma once
#include <memory>
#include <string>
#include <llvm/StringRef.h>
#include <llvm/Twine.h>
#include "ErrorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include "networktables/NetworkTableEntry.h"
#include "SmartDashboard/Sendable.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
class Command;
class Subsystem : public ErrorBase, public NamedSendable {
class Subsystem : public ErrorBase, public SendableBase {
friend class Scheduler;
public:
explicit Subsystem(const std::string& name);
virtual ~Subsystem() = default;
explicit Subsystem(const llvm::Twine& name);
void SetDefaultCommand(Command* command);
Command* GetDefaultCommand();
llvm::StringRef GetDefaultCommandName();
void SetCurrentCommand(Command* command);
Command* GetCurrentCommand() const;
llvm::StringRef GetCurrentCommandName() const;
virtual void Periodic();
virtual void InitDefaultCommand();
void AddChild(const llvm::Twine& name, std::shared_ptr<Sendable> child);
void AddChild(const llvm::Twine& name, Sendable* child);
void AddChild(const llvm::Twine& name, Sendable& child);
void AddChild(std::shared_ptr<Sendable> child);
void AddChild(Sendable* child);
void AddChild(Sendable& child);
private:
void ConfirmCommand();
Command* m_currentCommand = nullptr;
bool m_currentCommandChanged = true;
Command* m_defaultCommand = nullptr;
std::string m_name;
bool m_initializedDefaultCommand = false;
public:
std::string GetName() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
protected:
nt::NetworkTableEntry m_hasDefaultEntry;
nt::NetworkTableEntry m_defaultEntry;
nt::NetworkTableEntry m_hasCommandEntry;
nt::NetworkTableEntry m_commandEntry;
void InitSendable(SendableBuilder& builder) override;
};
} // namespace frc

23
wpilibc/src/main/native/include/Compressor.h
View File

@@ -7,14 +7,11 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/Types.h>
#include "LiveWindow/LiveWindowSendable.h"
#include "ErrorBase.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -33,11 +30,11 @@ namespace frc {
* loop control. You can only turn off closed loop control, thereby stopping
* the compressor from operating.
*/
class Compressor : public SensorBase, public LiveWindowSendable {
class Compressor : public ErrorBase, public SendableBase {
public:
// Default PCM ID is 0
explicit Compressor(int pcmID = GetDefaultSolenoidModule());
virtual ~Compressor();
explicit Compressor(int pcmID = SensorBase::GetDefaultSolenoidModule());
~Compressor() override = default;
void Start();
void Stop();
@@ -58,11 +55,7 @@ class Compressor : public SensorBase, public LiveWindowSendable {
bool GetCompressorNotConnectedFault() const;
void ClearAllPCMStickyFaults();
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
protected:
HAL_CompressorHandle m_compressorHandle;
@@ -70,10 +63,6 @@ class Compressor : public SensorBase, public LiveWindowSendable {
private:
void SetCompressor(bool on);
int m_module;
nt::NetworkTableEntry m_enabledEntry;
nt::NetworkTableEntry m_pressureSwitchEntry;
NT_EntryListener m_enabledListener = 0;
};
} // namespace frc

16
wpilibc/src/main/native/include/Counter.h
View File

@@ -8,16 +8,13 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/Counter.h>
#include <HAL/Types.h>
#include "AnalogTrigger.h"
#include "CounterBase.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -33,9 +30,7 @@ class DigitalGlitchFilter;
* All counters will immediately start counting - Reset() them if you need them
* to be zeroed before use.
*/
class Counter : public SensorBase,
public CounterBase,
public LiveWindowSendable {
class Counter : public SensorBase, public CounterBase {
public:
enum Mode {
kTwoPulse = 0,
@@ -53,7 +48,7 @@ class Counter : public SensorBase,
DigitalSource* downSource, bool inverted);
Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
std::shared_ptr<DigitalSource> downSource, bool inverted);
virtual ~Counter();
~Counter() override;
void SetUpSource(int channel);
void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
@@ -96,11 +91,7 @@ class Counter : public SensorBase,
int GetSamplesToAverage() const;
int GetFPGAIndex() const { return m_index; }
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
protected:
// Makes the counter count up.
@@ -115,7 +106,6 @@ class Counter : public SensorBase,
private:
int m_index = 0; // The index of this counter.
nt::NetworkTableEntry m_valueEntry;
friend class DigitalGlitchFilter;
};

5
wpilibc/src/main/native/include/DigitalGlitchFilter.h
View File

@@ -14,6 +14,7 @@
#include <support/mutex.h>
#include "DigitalSource.h"
#include "SensorBase.h"
namespace frc {
@@ -30,7 +31,7 @@ class Counter;
class DigitalGlitchFilter : public SensorBase {
public:
DigitalGlitchFilter();
~DigitalGlitchFilter();
~DigitalGlitchFilter() override;
void Add(DigitalSource* input);
void Add(Encoder* input);
@@ -46,6 +47,8 @@ class DigitalGlitchFilter : public SensorBase {
int GetPeriodCycles();
uint64_t GetPeriodNanoSeconds();
void InitSendable(SendableBuilder& builder) override;
private:
// Sets the filter for the input to be the requested index. A value of 0
// disables the filter, and the filter value must be between 1 and 3,

16
wpilibc/src/main/native/include/DigitalInput.h
View File

@@ -7,12 +7,7 @@
#pragma once
#include <memory>
#include <string>
#include "DigitalSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -27,10 +22,10 @@ class DigitalGlitchFilter;
* as required. This class is only for devices like switches etc. that aren't
* implemented anywhere else.
*/
class DigitalInput : public DigitalSource, public LiveWindowSendable {
class DigitalInput : public DigitalSource {
public:
explicit DigitalInput(int channel);
virtual ~DigitalInput();
~DigitalInput() override;
bool Get() const;
int GetChannel() const override;
@@ -39,17 +34,12 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
bool IsAnalogTrigger() const override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;
HAL_DigitalHandle m_handle;
nt::NetworkTableEntry m_valueEntry;
friend class DigitalGlitchFilter;
};

28
wpilibc/src/main/native/include/DigitalOutput.h
View File

@@ -7,14 +7,10 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/Types.h>
#include "DigitalSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "networktables/NetworkTableEntry.h"
#include "ErrorBase.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -25,13 +21,13 @@ namespace frc {
* elsewhere will allocate channels automatically so for those devices it
* shouldn't be done here.
*/
class DigitalOutput : public DigitalSource, public LiveWindowSendable {
class DigitalOutput : public ErrorBase, public SendableBase {
public:
explicit DigitalOutput(int channel);
virtual ~DigitalOutput();
~DigitalOutput() override;
void Set(bool value);
bool Get() const;
int GetChannel() const override;
int GetChannel() const;
void Pulse(double length);
bool IsPulsing() const;
void SetPWMRate(double rate);
@@ -39,24 +35,12 @@ class DigitalOutput : public DigitalSource, public LiveWindowSendable {
void DisablePWM();
void UpdateDutyCycle(double dutyCycle);
// Digital Source Interface
HAL_Handle GetPortHandleForRouting() const override;
AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
bool IsAnalogTrigger() const override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;
HAL_DigitalHandle m_handle;
HAL_DigitalPWMHandle m_pwmGenerator;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
};
} // namespace frc

1
wpilibc/src/main/native/include/DigitalSource.h
View File

@@ -24,7 +24,6 @@ namespace frc {
*/
class DigitalSource : public InterruptableSensorBase {
public:
virtual ~DigitalSource() = default;
virtual HAL_Handle GetPortHandleForRouting() const = 0;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
virtual bool IsAnalogTrigger() const = 0;

18
wpilibc/src/main/native/include/DoubleSolenoid.h
View File

@@ -7,14 +7,9 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/Types.h>
#include "LiveWindow/LiveWindowSendable.h"
#include "SolenoidBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -25,23 +20,19 @@ namespace frc {
* The DoubleSolenoid class is typically used for pneumatics solenoids that
* have two positions controlled by two separate channels.
*/
class DoubleSolenoid : public SolenoidBase, public LiveWindowSendable {
class DoubleSolenoid : public SolenoidBase {
public:
enum Value { kOff, kForward, kReverse };
explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
virtual ~DoubleSolenoid();
~DoubleSolenoid() override;
virtual void Set(Value value);
virtual Value Get() const;
bool IsFwdSolenoidBlackListed() const;
bool IsRevSolenoidBlackListed() const;
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
void InitSendable(SendableBuilder& builder) override;
private:
int m_forwardChannel; // The forward channel on the module to control.
@@ -50,9 +41,6 @@ class DoubleSolenoid : public SolenoidBase, public LiveWindowSendable {
int m_reverseMask; // The mask for the reverse channel.
HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
};
} // namespace frc

4
wpilibc/src/main/native/include/Drive/DifferentialDrive.h
View File

@@ -102,7 +102,7 @@ class DifferentialDrive : public RobotDriveBase {
static constexpr double kDefaultQuickStopAlpha = 0.1;
DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor);
virtual ~DifferentialDrive() = default;
~DifferentialDrive() override = default;
DifferentialDrive(const DifferentialDrive&) = delete;
DifferentialDrive& operator=(const DifferentialDrive&) = delete;
@@ -118,6 +118,8 @@ class DifferentialDrive : public RobotDriveBase {
void StopMotor() override;
void GetDescription(llvm::raw_ostream& desc) const override;
void InitSendable(SendableBuilder& builder) override;
private:
SpeedController& m_leftMotor;
SpeedController& m_rightMotor;

4
wpilibc/src/main/native/include/Drive/KilloughDrive.h
View File

@@ -55,7 +55,7 @@ class KilloughDrive : public RobotDriveBase {
KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
SpeedController& backMotor, double leftMotorAngle,
double rightMotorAngle, double backMotorAngle);
virtual ~KilloughDrive() = default;
~KilloughDrive() override = default;
KilloughDrive(const KilloughDrive&) = delete;
KilloughDrive& operator=(const KilloughDrive&) = delete;
@@ -67,6 +67,8 @@ class KilloughDrive : public RobotDriveBase {
void StopMotor() override;
void GetDescription(llvm::raw_ostream& desc) const override;
void InitSendable(SendableBuilder& builder) override;
private:
SpeedController& m_leftMotor;
SpeedController& m_rightMotor;

4
wpilibc/src/main/native/include/Drive/MecanumDrive.h
View File

@@ -67,7 +67,7 @@ class MecanumDrive : public RobotDriveBase {
MecanumDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
SpeedController& rearRightMotor);
virtual ~MecanumDrive() = default;
~MecanumDrive() override = default;
MecanumDrive(const MecanumDrive&) = delete;
MecanumDrive& operator=(const MecanumDrive&) = delete;
@@ -79,6 +79,8 @@ class MecanumDrive : public RobotDriveBase {
void StopMotor() override;
void GetDescription(llvm::raw_ostream& desc) const override;
void InitSendable(SendableBuilder& builder) override;
private:
SpeedController& m_frontLeftMotor;
SpeedController& m_rearLeftMotor;

6
wpilibc/src/main/native/include/Drive/RobotDriveBase.h
View File

@@ -12,9 +12,9 @@
#include <llvm/ArrayRef.h>
#include <llvm/raw_ostream.h>
#include "ErrorBase.h"
#include "MotorSafety.h"
#include "MotorSafetyHelper.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -23,7 +23,7 @@ class SpeedController;
/**
* Common base class for drive platforms.
*/
class RobotDriveBase : public MotorSafety, public ErrorBase {
class RobotDriveBase : public MotorSafety, public SendableBase {
public:
/**
* The location of a motor on the robot for the purpose of driving.
@@ -39,7 +39,7 @@ class RobotDriveBase : public MotorSafety, public ErrorBase {
};
RobotDriveBase();
virtual ~RobotDriveBase() = default;
~RobotDriveBase() override = default;
RobotDriveBase(const RobotDriveBase&) = delete;
RobotDriveBase& operator=(const RobotDriveBase&) = delete;

6
wpilibc/src/main/native/include/DriverStation.h
View File

@@ -17,8 +17,8 @@
#include <llvm/StringRef.h>
#include <support/mutex.h>
#include "ErrorBase.h"
#include "RobotState.h"
#include "SensorBase.h"
namespace frc {
@@ -28,12 +28,12 @@ struct MatchInfoData;
* Provide access to the network communication data to / from the Driver
* Station.
*/
class DriverStation : public SensorBase, public RobotStateInterface {
class DriverStation : public ErrorBase, public RobotStateInterface {
public:
enum Alliance { kRed, kBlue, kInvalid };
enum MatchType { kNone, kPractice, kQualification, kElimination };
virtual ~DriverStation();
~DriverStation() override;
static DriverStation& GetInstance();
static void ReportError(llvm::StringRef error);
static void ReportWarning(llvm::StringRef error);

20
wpilibc/src/main/native/include/Encoder.h
View File

@@ -8,16 +8,13 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/Encoder.h>
#include "Counter.h"
#include "CounterBase.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -39,10 +36,7 @@ class DigitalGlitchFilter;
* All encoders will immediately start counting - Reset() them if you need them
* to be zeroed before use.
*/
class Encoder : public SensorBase,
public CounterBase,
public PIDSource,
public LiveWindowSendable {
class Encoder : public SensorBase, public CounterBase, public PIDSource {
public:
enum IndexingType {
kResetWhileHigh,
@@ -60,7 +54,7 @@ class Encoder : public SensorBase,
bool reverseDirection = false, EncodingType encodingType = k4X);
Encoder(DigitalSource& aSource, DigitalSource& bSource,
bool reverseDirection = false, EncodingType encodingType = k4X);
virtual ~Encoder();
~Encoder() override;
// CounterBase interface
int Get() const override;
@@ -76,6 +70,7 @@ class Encoder : public SensorBase,
double GetRate() const;
void SetMinRate(double minRate);
void SetDistancePerPulse(double distancePerPulse);
double GetDistancePerPulse() const;
void SetReverseDirection(bool reverseDirection);
void SetSamplesToAverage(int samplesToAverage);
int GetSamplesToAverage() const;
@@ -85,11 +80,7 @@ class Encoder : public SensorBase,
void SetIndexSource(const DigitalSource& source,
IndexingType type = kResetOnRisingEdge);
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
int GetFPGAIndex() const;
@@ -103,9 +94,6 @@ class Encoder : public SensorBase,
std::unique_ptr<DigitalSource> m_indexSource = nullptr;
HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
nt::NetworkTableEntry m_speedEntry;
nt::NetworkTableEntry m_distanceEntry;
nt::NetworkTableEntry m_distancePerTickEntry;
friend class DigitalGlitchFilter;
};

3
wpilibc/src/main/native/include/GearTooth.h
View File

@@ -30,11 +30,10 @@ class GearTooth : public Counter {
explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
explicit GearTooth(std::shared_ptr<DigitalSource> source,
bool directionSensitive = false);
virtual ~GearTooth() = default;
void EnableDirectionSensing(bool directionSensitive);
std::string GetSmartDashboardType() const override;
void InitSendable(SendableBuilder& builder) override;
};
} // namespace frc

21
wpilibc/src/main/native/include/GyroBase.h
View File

@@ -7,14 +7,9 @@
#pragma once
#include <memory>
#include <string>
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "interfaces/Gyro.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -22,24 +17,12 @@ namespace frc {
* GyroBase is the common base class for Gyro implementations such as
* AnalogGyro.
*/
class GyroBase : public Gyro,
public SensorBase,
public PIDSource,
public LiveWindowSendable {
class GyroBase : public Gyro, public SensorBase, public PIDSource {
public:
virtual ~GyroBase() = default;
// PIDSource interface
double PIDGet() override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
private:
nt::NetworkTableEntry m_valueEntry;
void InitSendable(SendableBuilder& builder) override;
};
} // namespace frc

6
wpilibc/src/main/native/include/I2C.h
View File

@@ -9,7 +9,7 @@
#include <stdint.h>
#include "SensorBase.h"
#include "ErrorBase.h"
enum HAL_I2CPort : int32_t;
@@ -21,12 +21,12 @@ namespace frc {
* This class is intended to be used by sensor (and other I2C device) drivers.
* It probably should not be used directly.
*/
class I2C : SensorBase {
class I2C : public ErrorBase {
public:
enum Port { kOnboard = 0, kMXP };
I2C(Port port, int deviceAddress);
virtual ~I2C();
~I2C() override;
I2C(const I2C&) = delete;
I2C& operator=(const I2C&) = delete;

1
wpilibc/src/main/native/include/InterruptableSensorBase.h
View File

@@ -24,7 +24,6 @@ class InterruptableSensorBase : public SensorBase {
};
InterruptableSensorBase() = default;
virtual ~InterruptableSensorBase() = default;
virtual HAL_Handle GetPortHandleForRouting() const = 0;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;

1
wpilibc/src/main/native/include/Jaguar.h
View File

@@ -17,7 +17,6 @@ namespace frc {
class Jaguar : public PWMSpeedController {
public:
explicit Jaguar(int channel);
virtual ~Jaguar() = default;
};
} // namespace frc

108
wpilibc/src/main/native/include/LiveWindow/LiveWindow.h
View File

@@ -7,82 +7,76 @@
#pragma once
#include <map>
#include <memory>
#include <string>
#include <vector>
#include "Commands/Scheduler.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
#include <llvm/Twine.h>
#include <support/deprecated.h>
#include "SmartDashboard/Sendable.h"
namespace frc {
struct LiveWindowComponent {
std::string subsystem;
std::string name;
bool isSensor = false;
LiveWindowComponent() = default;
LiveWindowComponent(std::string subsystem, std::string name, bool isSensor) {
this->subsystem = subsystem;
this->name = name;
this->isSensor = isSensor;
}
};
/**
* The LiveWindow class is the public interface for putting sensors and
* actuators on the LiveWindow.
*/
class LiveWindow {
public:
LiveWindow(const LiveWindow&) = delete;
LiveWindow& operator=(const LiveWindow&) = delete;
static LiveWindow* GetInstance();
void Run();
void AddSensor(const std::string& subsystem, const std::string& name,
LiveWindowSendable* component);
void AddSensor(const std::string& subsystem, const std::string& name,
LiveWindowSendable& component);
void AddSensor(const std::string& subsystem, const std::string& name,
std::shared_ptr<LiveWindowSendable> component);
void AddActuator(const std::string& subsystem, const std::string& name,
LiveWindowSendable* component);
void AddActuator(const std::string& subsystem, const std::string& name,
LiveWindowSendable& component);
void AddActuator(const std::string& subsystem, const std::string& name,
std::shared_ptr<LiveWindowSendable> component);
void AddSensor(std::string type, int channel, LiveWindowSendable* component);
void AddActuator(std::string type, int channel,
LiveWindowSendable* component);
void AddActuator(std::string type, int module, int channel,
LiveWindowSendable* component);
WPI_DEPRECATED("no longer required")
void Run() { UpdateValues(); }
bool IsEnabled() const { return m_enabled; }
WPI_DEPRECATED("use Sendable::SetName() instead")
void AddSensor(const llvm::Twine& subsystem, const llvm::Twine& name,
Sendable* component);
WPI_DEPRECATED("use Sendable::SetName() instead")
void AddSensor(const llvm::Twine& subsystem, const llvm::Twine& name,
Sendable& component);
WPI_DEPRECATED("use Sendable::SetName() instead")
void AddSensor(const llvm::Twine& subsystem, const llvm::Twine& name,
std::shared_ptr<Sendable> component);
WPI_DEPRECATED("use Sendable::SetName() instead")
void AddActuator(const llvm::Twine& subsystem, const llvm::Twine& name,
Sendable* component);
WPI_DEPRECATED("use Sendable::SetName() instead")
void AddActuator(const llvm::Twine& subsystem, const llvm::Twine& name,
Sendable& component);
WPI_DEPRECATED("use Sendable::SetName() instead")
void AddActuator(const llvm::Twine& subsystem, const llvm::Twine& name,
std::shared_ptr<Sendable> component);
WPI_DEPRECATED("use SensorBase::SetName() instead")
void AddSensor(const llvm::Twine& type, int channel, Sendable* component);
WPI_DEPRECATED("use SensorBase::SetName() instead")
void AddActuator(const llvm::Twine& type, int channel, Sendable* component);
WPI_DEPRECATED("use SensorBase::SetName() instead")
void AddActuator(const llvm::Twine& type, int module, int channel,
Sendable* component);
void Add(std::shared_ptr<Sendable> component);
void Add(Sendable* component);
void AddChild(Sendable* parent, std::shared_ptr<Sendable> component);
void AddChild(Sendable* parent, void* component);
void Remove(Sendable* component);
void EnableTelemetry(Sendable* component);
void DisableTelemetry(Sendable* component);
void DisableAllTelemetry();
bool IsEnabled() const;
void SetEnabled(bool enabled);
protected:
LiveWindow();
virtual ~LiveWindow() = default;
void UpdateValues();
private:
void UpdateValues();
void Initialize();
void InitializeLiveWindowComponents();
LiveWindow();
std::vector<std::shared_ptr<LiveWindowSendable>> m_sensors;
std::map<std::shared_ptr<LiveWindowSendable>, LiveWindowComponent>
m_components;
std::shared_ptr<nt::NetworkTable> m_liveWindowTable;
std::shared_ptr<nt::NetworkTable> m_statusTable;
nt::NetworkTableEntry m_enabledEntry;
Scheduler* m_scheduler;
bool m_enabled = false;
bool m_firstTime = true;
struct Impl;
std::unique_ptr<Impl> m_impl;
};
} // namespace frc

36
wpilibc/src/main/native/include/LiveWindow/LiveWindowSendable.h
View File

@@ -1,36 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2012-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "SmartDashboard/Sendable.h"
namespace frc {
/**
* Live Window Sendable is a special type of object sendable to the live window.
*/
class LiveWindowSendable : public Sendable {
public:
/**
* Update the table for this sendable object with the latest values.
*/
virtual void UpdateTable() = 0;
/**
* Start having this sendable object automatically respond to value changes
* reflect the value on the table.
*/
virtual void StartLiveWindowMode() = 0;
/**
* Stop having this sendable object automatically respond to value changes.
*/
virtual void StopLiveWindowMode() = 0;
};
} // namespace frc

25
wpilibc/src/main/native/include/NidecBrushless.h
View File

@@ -8,28 +8,27 @@
#pragma once
#include <atomic>
#include <memory>
#include <string>
#include "DigitalOutput.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "ErrorBase.h"
#include "MotorSafety.h"
#include "MotorSafetyHelper.h"
#include "PWM.h"
#include "SmartDashboard/SendableBase.h"
#include "SpeedController.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
/**
* Nidec Brushless Motor.
*/
class NidecBrushless : public SpeedController,
public MotorSafety,
public LiveWindowSendable {
class NidecBrushless : public ErrorBase,
public SendableBase,
public SpeedController,
public MotorSafety {
public:
NidecBrushless(int pwmChannel, int dioChannel);
~NidecBrushless() = default;
~NidecBrushless() override = default;
// SpeedController interface
void Set(double speed) override;
@@ -55,13 +54,7 @@ class NidecBrushless : public SpeedController,
int GetChannel() const;
// Sendable interface
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
std::string GetSmartDashboardType() const override;
// LiveWindowSendable interface
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
void InitSendable(SendableBuilder& builder) override;
private:
MotorSafetyHelper m_safetyHelper;
@@ -70,8 +63,6 @@ class NidecBrushless : public SpeedController,
DigitalOutput m_dio;
PWM m_pwm;
double m_speed = 0.0;
nt::NetworkTableEntry m_valueEntry;
int m_valueListener;
};
} // namespace frc

35
wpilibc/src/main/native/include/PIDController.h
View File

@@ -7,21 +7,20 @@
#pragma once
#include <atomic>
#include <memory>
#include <string>
#include <support/deprecated.h>
#include <support/mutex.h>
#include "Base.h"
#include "Controller.h"
#include "Filters/LinearDigitalFilter.h"
#include "LiveWindow/LiveWindow.h"
#include "Notifier.h"
#include "PIDInterface.h"
#include "PIDSource.h"
#include "SmartDashboard/SendableBase.h"
#include "Timer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -37,7 +36,7 @@ class PIDOutput;
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*/
class PIDController : public LiveWindowSendable, public PIDInterface {
class PIDController : public SendableBase, public PIDInterface {
public:
PIDController(double p, double i, double d, PIDSource* source,
PIDOutput* output, double period = 0.05);
@@ -47,7 +46,7 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
PIDOutput& output, double period = 0.05);
PIDController(double p, double i, double d, double f, PIDSource& source,
PIDOutput& output, double period = 0.05);
virtual ~PIDController();
~PIDController() override;
PIDController(const PIDController&) = delete;
PIDController& operator=(const PIDController) = delete;
@@ -58,6 +57,10 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
virtual void SetOutputRange(double minimumOutput, double maximumOutput);
void SetPID(double p, double i, double d) override;
virtual void SetPID(double p, double i, double d, double f);
void SetP(double p);
void SetI(double i);
void SetD(double d);
void SetF(double f);
double GetP() const override;
double GetI() const override;
double GetD() const override;
@@ -87,29 +90,17 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
void Enable() override;
void Disable() override;
void SetEnabled(bool enable);
bool IsEnabled() const override;
void Reset() override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void InitSendable(SendableBuilder& builder) override;
protected:
PIDSource* m_pidInput;
PIDOutput* m_pidOutput;
nt::NetworkTableEntry m_pEntry;
nt::NetworkTableEntry m_iEntry;
nt::NetworkTableEntry m_dEntry;
nt::NetworkTableEntry m_fEntry;
nt::NetworkTableEntry m_setpointEntry;
nt::NetworkTableEntry m_enabledEntry;
NT_EntryListener m_pListener = 0;
NT_EntryListener m_iListener = 0;
NT_EntryListener m_dListener = 0;
NT_EntryListener m_fListener = 0;
NT_EntryListener m_setpointListener = 0;
NT_EntryListener m_enabledListener = 0;
virtual void Calculate();
virtual double CalculateFeedForward();
double GetContinuousError(double error) const;
@@ -180,12 +171,6 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
std::unique_ptr<Notifier> m_controlLoop;
Timer m_setpointTimer;
std::string GetSmartDashboardType() const override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
void RemoveListeners();
};
} // namespace frc

1
wpilibc/src/main/native/include/PIDInterface.h
View File

@@ -9,7 +9,6 @@
#include "Base.h"
#include "Controller.h"
#include "LiveWindow/LiveWindow.h"
namespace frc {

21
wpilibc/src/main/native/include/PWM.h
View File

@@ -9,14 +9,10 @@
#include <stdint.h>
#include <memory>
#include <string>
#include <HAL/Types.h>
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
#include "ErrorBase.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -37,7 +33,7 @@ namespace frc {
* - 1 = minimum pulse width (currently .5ms)
* - 0 = disabled (i.e. PWM output is held low)
*/
class PWM : public SensorBase, public LiveWindowSendable {
class PWM : public ErrorBase, public SendableBase {
public:
/**
* Represents the amount to multiply the minimum servo-pulse pwm period by.
@@ -58,7 +54,7 @@ class PWM : public SensorBase, public LiveWindowSendable {
};
explicit PWM(int channel);
virtual ~PWM();
~PWM() override;
virtual void SetRaw(uint16_t value);
virtual uint16_t GetRaw() const;
virtual void SetPosition(double pos);
@@ -78,14 +74,7 @@ class PWM : public SensorBase, public LiveWindowSendable {
int GetChannel() const { return m_channel; }
protected:
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;

1
wpilibc/src/main/native/include/PWMSpeedController.h
View File

@@ -17,7 +17,6 @@ namespace frc {
*/
class PWMSpeedController : public SafePWM, public SpeedController {
public:
virtual ~PWMSpeedController() = default;
void Set(double value) override;
double Get() const override;
void SetInverted(bool isInverted) override;

1
wpilibc/src/main/native/include/PWMTalonSRX.h
View File

@@ -18,7 +18,6 @@ namespace frc {
class PWMTalonSRX : public PWMSpeedController {
public:
explicit PWMTalonSRX(int channel);
virtual ~PWMTalonSRX() = default;
};
} // namespace frc

16
wpilibc/src/main/native/include/PowerDistributionPanel.h
View File

@@ -7,12 +7,7 @@
#pragma once
#include <memory>
#include <string>
#include "LiveWindow/LiveWindowSendable.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -20,7 +15,7 @@ namespace frc {
* Class for getting voltage, current, temperature, power and energy from the
* CAN PDP.
*/
class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
class PowerDistributionPanel : public SensorBase {
public:
PowerDistributionPanel();
explicit PowerDistributionPanel(int module);
@@ -34,16 +29,9 @@ class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
void ResetTotalEnergy();
void ClearStickyFaults();
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
private:
nt::NetworkTableEntry m_chanEntry[16];
nt::NetworkTableEntry m_voltageEntry;
nt::NetworkTableEntry m_totalCurrentEntry;
int m_module;
};

20
wpilibc/src/main/native/include/Relay.h
View File

@@ -8,15 +8,13 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/Types.h>
#include <llvm/raw_ostream.h>
#include "LiveWindow/LiveWindowSendable.h"
#include "ErrorBase.h"
#include "MotorSafety.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -34,13 +32,13 @@ class MotorSafetyHelper;
* independently for something that does not care about voltage polarity (like
* a solenoid).
*/
class Relay : public MotorSafety, public SensorBase, public LiveWindowSendable {
class Relay : public MotorSafety, public ErrorBase, public SendableBase {
public:
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
explicit Relay(int channel, Direction direction = kBothDirections);
virtual ~Relay();
~Relay() override;
void Set(Value value);
Value Get() const;
@@ -54,15 +52,7 @@ class Relay : public MotorSafety, public SensorBase, public LiveWindowSendable {
void SetSafetyEnabled(bool enabled) override;
void GetDescription(llvm::raw_ostream& desc) const override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
protected:
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;

1
wpilibc/src/main/native/include/SD540.h
View File

@@ -17,7 +17,6 @@ namespace frc {
class SD540 : public PWMSpeedController {
public:
explicit SD540(int channel);
virtual ~SD540() = default;
};
} // namespace frc

9
wpilibc/src/main/native/include/SPI.h
View File

@@ -9,15 +9,12 @@
#include <stdint.h>
#include "SensorBase.h"
#include "ErrorBase.h"
enum HAL_SPIPort : int32_t;
namespace frc {
class DigitalOutput;
class DigitalInput;
/**
* SPI bus interface class.
*
@@ -25,12 +22,12 @@ class DigitalInput;
* It probably should not be used directly.
*
*/
class SPI : public SensorBase {
class SPI : public ErrorBase {
public:
enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
explicit SPI(Port port);
virtual ~SPI();
~SPI() override;
SPI(const SPI&) = delete;
SPI& operator=(const SPI&) = delete;

7
wpilibc/src/main/native/include/SensorBase.h
View File

@@ -7,8 +7,12 @@
#pragma once
#include <memory>
#include "Base.h"
#include "ErrorBase.h"
#include "SmartDashboard/Sendable.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -18,10 +22,9 @@ namespace frc {
* Stores most recent status information as well as containing utility functions
* for checking channels and error processing.
*/
class SensorBase : public ErrorBase {
class SensorBase : public ErrorBase, public SendableBase {
public:
SensorBase() = default;
virtual ~SensorBase() = default;
SensorBase(const SensorBase&) = delete;
SensorBase& operator=(const SensorBase&) = delete;

15
wpilibc/src/main/native/include/Servo.h
View File

@@ -7,12 +7,8 @@
#pragma once
#include <memory>
#include <string>
#include "SafePWM.h"
#include "SpeedController.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -25,7 +21,6 @@ namespace frc {
class Servo : public SafePWM {
public:
explicit Servo(int channel);
virtual ~Servo();
void Set(double value);
void SetOffline();
double Get() const;
@@ -34,15 +29,7 @@ class Servo : public SafePWM {
static double GetMaxAngle() { return kMaxServoAngle; }
static double GetMinAngle() { return kMinServoAngle; }
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
protected:
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
void InitSendable(SendableBuilder& builder) override;
private:
double GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }

29
wpilibc/src/main/native/include/SmartDashboard/NamedSendable.h
View File

@@ -1,29 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2012-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <string>
#include "SmartDashboard/Sendable.h"
namespace frc {
/**
* The interface for sendable objects that gives the sendable a default name in
* the Smart Dashboard.
*/
class NamedSendable : public Sendable {
public:
/**
* @return The name of the subtable of SmartDashboard that the Sendable object
* will use
*/
virtual std::string GetName() const = 0;
};
} // namespace frc

58
wpilibc/src/main/native/include/SmartDashboard/Sendable.h
View File

@@ -7,27 +7,63 @@
#pragma once
#include <memory>
#include <string>
#include "networktables/NetworkTable.h"
#include <llvm/Twine.h>
namespace frc {
class SendableBuilder;
class Sendable {
public:
/**
* Initializes a table for this sendable object.
*
* @param subtable The table to put the values in.
*/
virtual void InitTable(std::shared_ptr<nt::NetworkTable> subtable) = 0;
virtual ~Sendable() = default;
/**
* @return The string representation of the named data type that will be used
* by the smart dashboard for this sendable
* Gets the name of this Sendable object.
*
* @return Name
*/
virtual std::string GetSmartDashboardType() const = 0;
virtual std::string GetName() const = 0;
/**
* Sets the name of this Sendable object.
*
* @param name name
*/
virtual void SetName(const llvm::Twine& name) = 0;
/**
* Sets both the subsystem name and device name of this Sendable object.
*
* @param subsystem subsystem name
* @param name device name
*/
void SetName(const llvm::Twine& subsystem, const llvm::Twine& name) {
SetSubsystem(subsystem);
SetName(name);
}
/**
* Gets the subsystem name of this Sendable object.
*
* @return Subsystem name
*/
virtual std::string GetSubsystem() const = 0;
/**
* Sets the subsystem name of this Sendable object.
*
* @param subsystem subsystem name
*/
virtual void SetSubsystem(const llvm::Twine& subsystem) = 0;
/**
* Initializes this Sendable object.
*
* @param builder sendable builder
*/
virtual void InitSendable(SendableBuilder& builder) = 0;
};
} // namespace frc

44
wpilibc/src/main/native/include/SmartDashboard/SendableBase.h Normal file
View File

@@ -0,0 +1,44 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <string>
#include <support/mutex.h>
#include "Sendable.h"
namespace frc {
class SendableBase : public Sendable {
public:
explicit SendableBase(bool addLiveWindow = true);
~SendableBase() override;
using Sendable::SetName;
std::string GetName() const final;
void SetName(const llvm::Twine& name) final;
std::string GetSubsystem() const final;
void SetSubsystem(const llvm::Twine& subsystem) final;
protected:
void AddChild(std::shared_ptr<Sendable> child);
void AddChild(void* child);
void SetName(const llvm::Twine& moduleType, int channel);
void SetName(const llvm::Twine& moduleType, int moduleNumber, int channel);
private:
mutable wpi::mutex m_mutex;
std::string m_name;
std::string m_subsystem = "Ungrouped";
};
} // namespace frc

217
wpilibc/src/main/native/include/SmartDashboard/SendableBuilder.h Normal file
View File

@@ -0,0 +1,217 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <functional>
#include <memory>
#include <string>
#include <vector>
#include <llvm/ArrayRef.h>
#include <llvm/SmallVector.h>
#include <llvm/Twine.h>
#include "networktables/NetworkTableEntry.h"
#include "networktables/NetworkTableValue.h"
namespace frc {
class SendableBuilder {
public:
virtual ~SendableBuilder() = default;
/**
* Set the string representation of the named data type that will be used
* by the smart dashboard for this sendable.
*
* @param type data type
*/
virtual void SetSmartDashboardType(const llvm::Twine& type) = 0;
/**
* Set the function that should be called to set the Sendable into a safe
* state. This is called when entering and exiting Live Window mode.
*
* @param func function
*/
virtual void SetSafeState(std::function<void()> func) = 0;
/**
* Set the function that should be called to update the network table
* for things other than properties. Note this function is not passed
* the network table object; instead it should use the entry handles
* returned by GetEntry().
*
* @param func function
*/
virtual void SetUpdateTable(std::function<void()> func) = 0;
/**
* Add a property without getters or setters. This can be used to get
* entry handles for the function called by SetUpdateTable().
*
* @param key property name
* @return Network table entry
*/
virtual nt::NetworkTableEntry GetEntry(const llvm::Twine& key) = 0;
/**
* Add a boolean property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddBooleanProperty(const llvm::Twine& key,
std::function<bool()> getter,
std::function<void(bool)> setter) = 0;
/**
* Add a double property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddDoubleProperty(const llvm::Twine& key,
std::function<double()> getter,
std::function<void(double)> setter) = 0;
/**
* Add a string property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddStringProperty(
const llvm::Twine& key, std::function<std::string()> getter,
std::function<void(llvm::StringRef)> setter) = 0;
/**
* Add a boolean array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddBooleanArrayProperty(
const llvm::Twine& key, std::function<std::vector<int>()> getter,
std::function<void(llvm::ArrayRef<int>)> setter) = 0;
/**
* Add a double array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddDoubleArrayProperty(
const llvm::Twine& key, std::function<std::vector<double>()> getter,
std::function<void(llvm::ArrayRef<double>)> setter) = 0;
/**
* Add a string array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddStringArrayProperty(
const llvm::Twine& key, std::function<std::vector<std::string>()> getter,
std::function<void(llvm::ArrayRef<std::string>)> setter) = 0;
/**
* Add a raw property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddRawProperty(const llvm::Twine& key,
std::function<std::string()> getter,
std::function<void(llvm::StringRef)> setter) = 0;
/**
* Add a NetworkTableValue property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddValueProperty(
const llvm::Twine& key,
std::function<std::shared_ptr<nt::Value>()> getter,
std::function<void(std::shared_ptr<nt::Value>)> setter) = 0;
/**
* Add a string property (SmallString form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallStringProperty(
const llvm::Twine& key,
std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
std::function<void(llvm::StringRef)> setter) = 0;
/**
* Add a boolean array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallBooleanArrayProperty(
const llvm::Twine& key,
std::function<llvm::ArrayRef<int>(llvm::SmallVectorImpl<int>& buf)>
getter,
std::function<void(llvm::ArrayRef<int>)> setter) = 0;
/**
* Add a double array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallDoubleArrayProperty(
const llvm::Twine& key,
std::function<llvm::ArrayRef<double>(llvm::SmallVectorImpl<double>& buf)>
getter,
std::function<void(llvm::ArrayRef<double>)> setter) = 0;
/**
* Add a string array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallStringArrayProperty(
const llvm::Twine& key,
std::function<
llvm::ArrayRef<std::string>(llvm::SmallVectorImpl<std::string>& buf)>
getter,
std::function<void(llvm::ArrayRef<std::string>)> setter) = 0;
/**
* Add a raw property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallRawProperty(
const llvm::Twine& key,
std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
std::function<void(llvm::StringRef)> setter) = 0;
};
} // namespace frc

182
wpilibc/src/main/native/include/SmartDashboard/SendableBuilderImpl.h Normal file
View File

@@ -0,0 +1,182 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <functional>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <llvm/ArrayRef.h>
#include <llvm/SmallVector.h>
#include <llvm/Twine.h>
#include "SendableBuilder.h"
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
#include "networktables/NetworkTableValue.h"
namespace frc {
class SendableBuilderImpl : public SendableBuilder {
public:
SendableBuilderImpl() = default;
SendableBuilderImpl(const SendableBuilderImpl&) = delete;
SendableBuilderImpl(SendableBuilderImpl&& other) = default;
SendableBuilderImpl& operator=(const SendableBuilderImpl&) = delete;
SendableBuilderImpl& operator=(SendableBuilderImpl&& other) = default;
~SendableBuilderImpl() override = default;
/**
* Set the network table. Must be called prior to any Add* functions being
* called.
* @param table Network table
*/
void SetTable(std::shared_ptr<nt::NetworkTable> table);
/**
* Get the network table.
* @return The network table
*/
std::shared_ptr<nt::NetworkTable> GetTable();
/**
* Update the network table values by calling the getters for all properties.
*/
void UpdateTable();
/**
* Start LiveWindow mode by hooking the setters for all properties.
*/
void StartLiveWindowMode();
/**
* Stop LiveWindow mode by unhooking the setters for all properties.
*/
void StopLiveWindowMode();
void SetSmartDashboardType(const llvm::Twine& type) override;
void SetSafeState(std::function<void()> func) override;
void SetUpdateTable(std::function<void()> func) override;
nt::NetworkTableEntry GetEntry(const llvm::Twine& key) override;
void AddBooleanProperty(const llvm::Twine& key, std::function<bool()> getter,
std::function<void(bool)> setter) override;
void AddDoubleProperty(const llvm::Twine& key, std::function<double()> getter,
std::function<void(double)> setter) override;
void AddStringProperty(const llvm::Twine& key,
std::function<std::string()> getter,
std::function<void(llvm::StringRef)> setter) override;
void AddBooleanArrayProperty(
const llvm::Twine& key, std::function<std::vector<int>()> getter,
std::function<void(llvm::ArrayRef<int>)> setter) override;
void AddDoubleArrayProperty(
const llvm::Twine& key, std::function<std::vector<double>()> getter,
std::function<void(llvm::ArrayRef<double>)> setter) override;
void AddStringArrayProperty(
const llvm::Twine& key, std::function<std::vector<std::string>()> getter,
std::function<void(llvm::ArrayRef<std::string>)> setter) override;
void AddRawProperty(const llvm::Twine& key,
std::function<std::string()> getter,
std::function<void(llvm::StringRef)> setter) override;
void AddValueProperty(
const llvm::Twine& key,
std::function<std::shared_ptr<nt::Value>()> getter,
std::function<void(std::shared_ptr<nt::Value>)> setter) override;
void AddSmallStringProperty(
const llvm::Twine& key,
std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
std::function<void(llvm::StringRef)> setter) override;
void AddSmallBooleanArrayProperty(
const llvm::Twine& key,
std::function<llvm::ArrayRef<int>(llvm::SmallVectorImpl<int>& buf)>
getter,
std::function<void(llvm::ArrayRef<int>)> setter) override;
void AddSmallDoubleArrayProperty(
const llvm::Twine& key,
std::function<llvm::ArrayRef<double>(llvm::SmallVectorImpl<double>& buf)>
getter,
std::function<void(llvm::ArrayRef<double>)> setter) override;
void AddSmallStringArrayProperty(
const llvm::Twine& key,
std::function<
llvm::ArrayRef<std::string>(llvm::SmallVectorImpl<std::string>& buf)>
getter,
std::function<void(llvm::ArrayRef<std::string>)> setter) override;
void AddSmallRawProperty(
const llvm::Twine& key,
std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
std::function<void(llvm::StringRef)> setter) override;
private:
struct Property {
Property(nt::NetworkTable& table, const llvm::Twine& key)
: entry(table.GetEntry(key)) {}
Property(const Property&) = delete;
Property& operator=(const Property&) = delete;
Property(Property&& other) noexcept
: entry(other.entry),
listener(other.listener),
update(std::move(other.update)),
createListener(std::move(other.createListener)) {
other.entry = nt::NetworkTableEntry();
other.listener = 0;
}
Property& operator=(Property&& other) noexcept {
entry = other.entry;
listener = other.listener;
other.entry = nt::NetworkTableEntry();
other.listener = 0;
update = std::move(other.update);
createListener = std::move(other.createListener);
return *this;
}
~Property() { StopListener(); }
void StartListener() {
if (entry && listener == 0 && createListener)
listener = createListener(entry);
}
void StopListener() {
if (entry && listener != 0) {
entry.RemoveListener(listener);
listener = 0;
}
}
nt::NetworkTableEntry entry;
NT_EntryListener listener = 0;
std::function<void(nt::NetworkTableEntry entry, uint64_t time)> update;
std::function<NT_EntryListener(nt::NetworkTableEntry entry)> createListener;
};
std::vector<Property> m_properties;
std::function<void()> m_safeState;
std::function<void()> m_updateTable;
std::shared_ptr<nt::NetworkTable> m_table;
};
} // namespace frc

8
wpilibc/src/main/native/include/SmartDashboard/SendableChooser.h
View File

@@ -8,14 +8,11 @@
#pragma once
#include <memory>
#include <string>
#include <llvm/StringMap.h>
#include <llvm/StringRef.h>
#include "SmartDashboard/SendableChooserBase.h"
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -35,7 +32,6 @@ namespace frc {
template <class T>
class SendableChooser : public SendableChooserBase {
llvm::StringMap<T> m_choices;
nt::NetworkTableEntry m_selectedEntry;
template <class U>
static U _unwrap_smart_ptr(const U& value);
@@ -47,14 +43,14 @@ class SendableChooser : public SendableChooserBase {
static std::weak_ptr<U> _unwrap_smart_ptr(const std::shared_ptr<U>& value);
public:
virtual ~SendableChooser() = default;
~SendableChooser() override = default;
void AddObject(llvm::StringRef name, T object);
void AddDefault(llvm::StringRef name, T object);
auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
void InitSendable(SendableBuilder& builder) override;
};
} // namespace frc

45
wpilibc/src/main/native/include/SmartDashboard/SendableChooser.inc
View File

@@ -13,6 +13,10 @@
#include <utility>
#include <vector>
#include <llvm/StringRef.h>
#include "SendableBuilder.h"
namespace frc {
/**
@@ -58,8 +62,11 @@ void SendableChooser<T>::AddDefault(llvm::StringRef name, T object) {
template <class T>
auto SendableChooser<T>::GetSelected()
-> decltype(_unwrap_smart_ptr(m_choices[""])) {
std::string selected = m_selectedEntry.GetString(m_defaultChoice);
if (selected == "") {
llvm::StringRef selected = m_defaultChoice;
if (m_selectedEntry) {
selected = m_selectedEntry.GetString(m_defaultChoice);
}
if (selected.empty()) {
return decltype(_unwrap_smart_ptr(m_choices[""])){};
} else {
return _unwrap_smart_ptr(m_choices[selected]);
@@ -67,21 +74,29 @@ auto SendableChooser<T>::GetSelected()
}
template <class T>
void SendableChooser<T>::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
std::vector<std::string> keys;
if (subtable) {
m_selectedEntry = subtable->GetEntry(kSelected);
for (const auto& choice : m_choices) {
keys.push_back(choice.first());
}
void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("String Chooser");
builder.AddStringArrayProperty(kOptions,
[=]() {
std::vector<std::string> keys;
for (const auto& choice : m_choices) {
keys.push_back(choice.first());
}
// Unlike std::map, llvm::StringMap elements are not sorted
std::sort(keys.begin(), keys.end());
// Unlike std::map, llvm::StringMap elements
// are not sorted
std::sort(keys.begin(), keys.end());
subtable->GetEntry(kOptions).SetValue(
nt::Value::MakeStringArray(std::move(keys)));
subtable->GetEntry(kDefault).SetString(m_defaultChoice);
}
return keys;
},
nullptr);
builder.AddSmallStringProperty(
kDefault,
[=](const llvm::SmallVectorImpl<char>&) -> llvm::StringRef {
return m_defaultChoice;
},
nullptr);
m_selectedEntry = builder.GetEntry(kSelected);
}
template <class T>

12
wpilibc/src/main/native/include/SmartDashboard/SendableChooserBase.h
View File

@@ -7,11 +7,10 @@
#pragma once
#include <memory>
#include <string>
#include "SmartDashboard/Sendable.h"
#include "networktables/NetworkTable.h"
#include "SmartDashboard/SendableBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -21,11 +20,9 @@ namespace frc {
* It contains static, non-templated variables to avoid their duplication in the
* template class.
*/
class SendableChooserBase : public Sendable {
class SendableChooserBase : public SendableBase {
public:
virtual ~SendableChooserBase() = default;
std::string GetSmartDashboardType() const override;
~SendableChooserBase() override = default;
protected:
static const char* kDefault;
@@ -33,6 +30,7 @@ class SendableChooserBase : public Sendable {
static const char* kSelected;
std::string m_defaultChoice;
nt::NetworkTableEntry m_selectedEntry;
};
} // namespace frc

3
wpilibc/src/main/native/include/SmartDashboard/SmartDashboard.h
View File

@@ -16,7 +16,6 @@
namespace frc {
class NamedSendable;
class Sendable;
class SmartDashboard : public SensorBase {
@@ -38,7 +37,7 @@ class SmartDashboard : public SensorBase {
static void Delete(llvm::StringRef key);
static void PutData(llvm::StringRef key, Sendable* data);
static void PutData(NamedSendable* value);
static void PutData(Sendable* value);
static Sendable* GetData(llvm::StringRef keyName);
static bool PutBoolean(llvm::StringRef keyName, bool value);

17
wpilibc/src/main/native/include/Solenoid.h
View File

@@ -7,14 +7,9 @@
#pragma once
#include <memory>
#include <string>
#include <HAL/Types.h>
#include "LiveWindow/LiveWindowSendable.h"
#include "SolenoidBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -24,28 +19,22 @@ namespace frc {
* The Solenoid class is typically used for pneumatics solenoids, but could be
* used for any device within the current spec of the PCM.
*/
class Solenoid : public SolenoidBase, public LiveWindowSendable {
class Solenoid : public SolenoidBase {
public:
explicit Solenoid(int channel);
Solenoid(int moduleNumber, int channel);
virtual ~Solenoid();
~Solenoid() override;
virtual void Set(bool on);
virtual bool Get() const;
bool IsBlackListed() const;
void SetPulseDuration(double durationSeconds);
void StartPulse();
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
void InitSendable(SendableBuilder& builder) override;
private:
HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle;
int m_channel; // The channel on the module to control
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
};
} // namespace frc

6
wpilibc/src/main/native/include/SolenoidBase.h
View File

@@ -7,7 +7,8 @@
#pragma once
#include "SensorBase.h"
#include "ErrorBase.h"
#include "SmartDashboard/SendableBase.h"
namespace frc {
@@ -15,9 +16,8 @@ namespace frc {
* SolenoidBase class is the common base class for the Solenoid and
* DoubleSolenoid classes.
*/
class SolenoidBase : public SensorBase {
class SolenoidBase : public ErrorBase, public SendableBase {
public:
virtual ~SolenoidBase() = default;
static int GetAll(int module);
int GetAll() const;

1
wpilibc/src/main/native/include/Spark.h
View File

@@ -17,7 +17,6 @@ namespace frc {
class Spark : public PWMSpeedController {
public:
explicit Spark(int channel);
virtual ~Spark() = default;
};
} // namespace frc

6
wpilibc/src/main/native/include/SpeedControllerGroup.h
View File

@@ -10,15 +10,17 @@
#include <functional>
#include <vector>
#include "SmartDashboard/SendableBase.h"
#include "SpeedController.h"
namespace frc {
class SpeedControllerGroup : public SpeedController {
class SpeedControllerGroup : public SendableBase, public SpeedController {
public:
template <class... SpeedControllers>
explicit SpeedControllerGroup(SpeedController& speedController,
SpeedControllers&... speedControllers);
~SpeedControllerGroup() override = default;
void Set(double speed) override;
double Get() const override;
@@ -28,6 +30,8 @@ class SpeedControllerGroup : public SpeedController {
void StopMotor() override;
void PIDWrite(double output) override;
void InitSendable(SendableBuilder& builder) override;
private:
bool m_isInverted = false;
std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;

8
wpilibc/src/main/native/include/SpeedControllerGroup.inc
View File

@@ -12,6 +12,12 @@ namespace frc {
template <class... SpeedControllers>
SpeedControllerGroup::SpeedControllerGroup(
SpeedController& speedController, SpeedControllers&... speedControllers)
: m_speedControllers{speedController, speedControllers...} {}
: m_speedControllers{speedController, speedControllers...} {
for (auto& speedController : m_speedControllers)
AddChild(&speedController.get());
static int instances = 0;
++instances;
SetName("SpeedControllerGroup", instances);
}
} // namespace frc

1
wpilibc/src/main/native/include/Talon.h
View File

@@ -17,7 +17,6 @@ namespace frc {
class Talon : public PWMSpeedController {
public:
explicit Talon(int channel);
virtual ~Talon() = default;
};
} // namespace frc

17
wpilibc/src/main/native/include/Ultrasonic.h
View File

@@ -9,15 +9,12 @@
#include <atomic>
#include <memory>
#include <string>
#include <thread>
#include <vector>
#include "Counter.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -36,9 +33,7 @@ class DigitalOutput;
* received. The time that the line is high determines the round trip distance
* (time of flight).
*/
class Ultrasonic : public SensorBase,
public PIDSource,
public LiveWindowSendable {
class Ultrasonic : public SensorBase, public PIDSource {
public:
enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
@@ -50,7 +45,7 @@ class Ultrasonic : public SensorBase,
std::shared_ptr<DigitalInput> echoChannel,
DistanceUnit units = kInches);
Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units = kInches);
virtual ~Ultrasonic();
~Ultrasonic() override;
void Ping();
bool IsRangeValid() const;
@@ -65,11 +60,7 @@ class Ultrasonic : public SensorBase,
void SetDistanceUnits(DistanceUnit units);
DistanceUnit GetDistanceUnits() const;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
void InitSendable(SendableBuilder& builder) override;
private:
void Initialize();
@@ -100,8 +91,6 @@ class Ultrasonic : public SensorBase,
bool m_enabled = false;
Counter m_counter;
DistanceUnit m_units;
nt::NetworkTableEntry m_valueEntry;
};
} // namespace frc

1
wpilibc/src/main/native/include/Victor.h
View File

@@ -20,7 +20,6 @@ namespace frc {
class Victor : public PWMSpeedController {
public:
explicit Victor(int channel);
virtual ~Victor() = default;
};
} // namespace frc

1
wpilibc/src/main/native/include/VictorSP.h
View File

@@ -17,7 +17,6 @@ namespace frc {
class VictorSP : public PWMSpeedController {
public:
explicit VictorSP(int channel);
virtual ~VictorSP() = default;
};
} // namespace frc