mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-01 02:41:48 +00:00
Update LiveWindow to provide continuous telemetry. (#771)
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
@@ -7,14 +7,15 @@
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package edu.wpi.first.wpilibj.livewindow;
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import java.util.Enumeration;
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import java.util.Hashtable;
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import java.util.Vector;
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import java.util.HashMap;
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import java.util.Map;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj.command.Scheduler;
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import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
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import edu.wpi.first.wpilibj.Sendable;
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/**
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@@ -23,42 +24,30 @@ import edu.wpi.first.wpilibj.command.Scheduler;
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*/
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public class LiveWindow {
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private static Vector<LiveWindowSendable> sensors = new Vector<>();
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// private static Vector actuators = new Vector();
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private static Hashtable<LiveWindowSendable, LiveWindowComponent> components = new Hashtable<>();
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private static NetworkTable livewindowTable;
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private static NetworkTable statusTable;
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private static NetworkTableEntry enabledEntry;
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private static boolean liveWindowEnabled = false;
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private static boolean firstTime = true;
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/**
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* Initialize all the LiveWindow elements the first time we enter LiveWindow mode. By holding off
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* creating the NetworkTable entries, it allows them to be redefined before the first time in
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* LiveWindow mode. This allows default sensor and actuator values to be created that are replaced
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* with the custom names from users calling addActuator and addSensor.
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*/
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private static void initializeLiveWindowComponents() {
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System.out.println("Initializing the components first time");
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livewindowTable = NetworkTableInstance.getDefault().getTable("LiveWindow");
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statusTable = livewindowTable.getSubTable(".status");
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enabledEntry = statusTable.getEntry("LW Enabled");
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for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
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LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
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LiveWindowComponent liveWindowComponent = components.get(component);
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String subsystem = liveWindowComponent.getSubsystem();
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String name = liveWindowComponent.getName();
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System.out.println("Initializing table for '" + subsystem + "' '" + name + "'");
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livewindowTable.getSubTable(subsystem).getEntry(".type").setString("LW Subsystem");
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NetworkTable table = livewindowTable.getSubTable(subsystem).getSubTable(name);
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table.getEntry(".type").setString(component.getSmartDashboardType());
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table.getEntry(".name").setString(name);
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table.getEntry(".subsystem").setString(subsystem);
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component.initTable(table);
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if (liveWindowComponent.isSensor()) {
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sensors.addElement(component);
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}
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private static class Component {
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Component(Sendable sendable, Sendable parent) {
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m_sendable = sendable;
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m_parent = parent;
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}
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final Sendable m_sendable;
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Sendable m_parent;
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final SendableBuilderImpl m_builder = new SendableBuilderImpl();
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boolean m_firstTime = true;
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boolean m_telemetryEnabled = true;
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}
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private static final Map<Object, Component> components = new HashMap<>();
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private static final NetworkTable liveWindowTable =
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NetworkTableInstance.getDefault().getTable("LiveWindow");
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private static final NetworkTable statusTable = liveWindowTable.getSubTable(".status");
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private static final NetworkTableEntry enabledEntry = statusTable.getEntry("LW Enabled");
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private static boolean startLiveWindow = false;
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private static boolean liveWindowEnabled = false;
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private static boolean telemetryEnabled = true;
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public static synchronized boolean isEnabled() {
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return liveWindowEnabled;
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}
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/**
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@@ -69,28 +58,21 @@ public class LiveWindow {
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* themselves when they get rescheduled. This prevents arms from starting to move around, etc.
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* after a period of adjusting them in LiveWindow mode.
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*/
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public static void setEnabled(boolean enabled) {
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public static synchronized void setEnabled(boolean enabled) {
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if (liveWindowEnabled != enabled) {
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Scheduler scheduler = Scheduler.getInstance();
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if (enabled) {
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System.out.println("Starting live window mode.");
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if (firstTime) {
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initializeLiveWindowComponents();
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firstTime = false;
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}
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Scheduler.getInstance().disable();
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Scheduler.getInstance().removeAll();
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for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
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LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
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component.startLiveWindowMode();
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}
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scheduler.disable();
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scheduler.removeAll();
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} else {
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System.out.println("stopping live window mode.");
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for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
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LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
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component.stopLiveWindowMode();
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for (Component component : components.values()) {
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component.m_builder.stopLiveWindowMode();
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}
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Scheduler.getInstance().enable();
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scheduler.enable();
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}
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startLiveWindow = enabled;
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liveWindowEnabled = enabled;
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enabledEntry.setBoolean(enabled);
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}
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@@ -98,7 +80,9 @@ public class LiveWindow {
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/**
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* The run method is called repeatedly to keep the values refreshed on the screen in test mode.
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* @deprecated No longer required
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*/
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@Deprecated
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public static void run() {
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updateValues();
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}
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@@ -109,9 +93,12 @@ public class LiveWindow {
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* @param subsystem The subsystem this component is part of.
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* @param name The name of this component.
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* @param component A LiveWindowSendable component that represents a sensor.
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* @deprecated Use {@link Sendable#setName(String, String)} instead.
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*/
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public static void addSensor(String subsystem, String name, LiveWindowSendable component) {
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components.put(component, new LiveWindowComponent(subsystem, name, true));
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@Deprecated
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public static synchronized void addSensor(String subsystem, String name, Sendable component) {
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add(component);
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component.setName(subsystem, name);
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}
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/**
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@@ -121,13 +108,12 @@ public class LiveWindow {
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* @param moduleType A string indicating the type of the module used in the naming (above)
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* @param channel The channel number the device is connected to
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* @param component A reference to the object being added
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* @deprecated Use {@link edu.wpi.first.wpilibj.SensorBase#setName(String, int)} instead.
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*/
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public static void addSensor(String moduleType, int channel, LiveWindowSendable component) {
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addSensor("Ungrouped", moduleType + "[" + channel + "]", component);
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if (sensors.contains(component)) {
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sensors.removeElement(component);
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}
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sensors.addElement(component);
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@Deprecated
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public static void addSensor(String moduleType, int channel, Sendable component) {
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add(component);
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component.setName("Ungrouped", moduleType + "[" + channel + "]");
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}
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/**
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@@ -136,9 +122,12 @@ public class LiveWindow {
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* @param subsystem The subsystem this component is part of.
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* @param name The name of this component.
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* @param component A LiveWindowSendable component that represents a actuator.
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* @deprecated Use {@link Sendable#setName(String, String)} instead.
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*/
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public static void addActuator(String subsystem, String name, LiveWindowSendable component) {
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components.put(component, new LiveWindowComponent(subsystem, name, false));
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@Deprecated
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public static synchronized void addActuator(String subsystem, String name, Sendable component) {
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add(component);
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component.setName(subsystem, name);
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}
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/**
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@@ -148,9 +137,12 @@ public class LiveWindow {
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* @param moduleType A string that defines the module name in the label for the value
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* @param channel The channel number the device is plugged into (usually PWM)
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* @param component The reference to the object being added
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* @deprecated Use {@link edu.wpi.first.wpilibj.SensorBase#setName(String, int)} instead.
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*/
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public static void addActuator(String moduleType, int channel, LiveWindowSendable component) {
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addActuator("Ungrouped", moduleType + "[" + channel + "]", component);
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@Deprecated
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public static void addActuator(String moduleType, int channel, Sendable component) {
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add(component);
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component.setName("Ungrouped", moduleType + "[" + channel + "]");
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}
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/**
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@@ -161,22 +153,137 @@ public class LiveWindow {
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into (usually PWM)
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* @param component The reference to the object being added
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* @deprecated Use {@link edu.wpi.first.wpilibj.SensorBase#setName(String, int, int)} instead.
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*/
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@Deprecated
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public static void addActuator(String moduleType, int moduleNumber, int channel,
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LiveWindowSendable component) {
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addActuator("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]", component);
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Sendable component) {
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add(component);
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component.setName("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]");
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}
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/**
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* Puts all sensor values on the live window.
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* Add a component to the LiveWindow.
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*
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* @param sendable component to add
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*/
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private static void updateValues() {
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// TODO: gross - needs to be sped up
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for (int i = 0; i < sensors.size(); i++) {
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LiveWindowSendable lws = sensors.elementAt(i);
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lws.updateTable();
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public static synchronized void add(Sendable sendable) {
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components.putIfAbsent(sendable, new Component(sendable, null));
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}
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/**
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* Add a child component to a component.
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*
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* @param parent parent component
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* @param child child component
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*/
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public static synchronized void addChild(Sendable parent, Object child) {
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Component component = components.get(child);
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if (component == null) {
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component = new Component(null, parent);
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components.put(child, component);
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} else {
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component.m_parent = parent;
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}
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// TODO: Add actuators?
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// TODO: Add better rate limiting.
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component.m_telemetryEnabled = false;
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}
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/**
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* Remove a component from the LiveWindow.
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*
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* @param sendable component to remove
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*/
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public static synchronized void remove(Sendable sendable) {
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Component component = components.remove(sendable);
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if (component != null && isEnabled()) {
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component.m_builder.stopLiveWindowMode();
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}
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}
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/**
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* Enable telemetry for a single component.
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*
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* @param sendable component
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*/
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public static synchronized void enableTelemetry(Sendable sendable) {
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// Re-enable global setting in case disableAllTelemetry() was called.
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telemetryEnabled = true;
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Component component = components.get(sendable);
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if (component != null) {
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component.m_telemetryEnabled = true;
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}
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}
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/**
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* Disable telemetry for a single component.
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*
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* @param sendable component
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*/
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public static synchronized void disableTelemetry(Sendable sendable) {
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Component component = components.get(sendable);
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if (component != null) {
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component.m_telemetryEnabled = false;
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}
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}
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/**
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* Disable ALL telemetry.
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*/
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public static synchronized void disableAllTelemetry() {
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telemetryEnabled = false;
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for (Component component : components.values()) {
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component.m_telemetryEnabled = false;
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}
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}
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/**
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* Tell all the sensors to update (send) their values.
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*
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* <p>Actuators are handled through callbacks on their value changing from the
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* SmartDashboard widgets.
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*/
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public static synchronized void updateValues() {
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// Only do this if either LiveWindow mode or telemetry is enabled.
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if (!liveWindowEnabled && !telemetryEnabled) {
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return;
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}
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for (Component component : components.values()) {
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if (component.m_sendable != null && component.m_parent == null
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&& (liveWindowEnabled || component.m_telemetryEnabled)) {
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if (component.m_firstTime) {
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// By holding off creating the NetworkTable entries, it allows the
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// components to be redefined. This allows default sensor and actuator
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// values to be created that are replaced with the custom names from
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// users calling setName.
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String name = component.m_sendable.getName();
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if (name.isEmpty()) {
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continue;
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}
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String subsystem = component.m_sendable.getSubsystem();
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NetworkTable ssTable = liveWindowTable.getSubTable(subsystem);
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NetworkTable table;
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// Treat name==subsystem as top level of subsystem
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if (name.equals(subsystem)) {
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table = ssTable;
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} else {
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table = ssTable.getSubTable(name);
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}
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table.getEntry(".name").setString(name);
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component.m_builder.setTable(table);
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component.m_sendable.initSendable(component.m_builder);
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ssTable.getEntry(".type").setString("LW Subsystem");
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component.m_firstTime = false;
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}
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if (startLiveWindow) {
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component.m_builder.startLiveWindowMode();
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}
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component.m_builder.updateTable();
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}
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}
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startLiveWindow = false;
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}
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}
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@@ -1,41 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.livewindow;
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/**
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* A LiveWindow component is a device (sensor or actuator) that should be added to the
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* SmartDashboard in test mode. The components are cached until the first time the robot enters Test
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* mode. This allows the components to be inserted, then renamed.
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*/
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/*
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* This class is intentionally package private.
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*/
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class LiveWindowComponent {
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String m_subsystem;
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String m_name;
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boolean m_isSensor;
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LiveWindowComponent(String subsystem, String name, boolean isSensor) {
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m_subsystem = subsystem;
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m_name = name;
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m_isSensor = isSensor;
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}
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public String getName() {
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return m_name;
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}
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public String getSubsystem() {
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return m_subsystem;
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}
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public boolean isSensor() {
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return m_isSensor;
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}
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}
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@@ -1,31 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.livewindow;
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import edu.wpi.first.wpilibj.Sendable;
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/**
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* Live Window Sendable is a special type of object sendable to the live window.
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*/
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public interface LiveWindowSendable extends Sendable {
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/**
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* Update the table for this sendable object with the latest values.
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*/
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void updateTable();
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/**
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* Start having this sendable object automatically respond to value changes reflect the value on
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* the table.
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*/
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void startLiveWindowMode();
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/**
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* Stop having this sendable object automatically respond to value changes.
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*/
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void stopLiveWindowMode();
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}
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