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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
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10
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -24,6 +24,7 @@ import java.util.logging.Logger;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
@@ -43,6 +44,7 @@ import static org.junit.Assert.assertTrue;
public class PIDTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
private NetworkTable m_table;
private SendableBuilderImpl m_builder;
private static final double absoluteTolerance = 50;
private static final double outputRange = 0.25;
@@ -104,8 +106,10 @@ public class PIDTest extends AbstractComsSetup {
logger.fine("Setup: " + me.getType());
me.setup();
m_table = NetworkTableInstance.getDefault().getTable("TEST_PID");
m_builder = new SendableBuilderImpl();
m_builder.setTable(m_table);
m_controller = new PIDController(k_p, k_i, k_d, me.getEncoder(), me.getMotor());
m_controller.initTable(m_table);
m_controller.initSendable(m_builder);
}
@After
@@ -134,6 +138,7 @@ public class PIDTest extends AbstractComsSetup {
assertFalse("PID did not begin disabled", m_controller.isEnabled());
assertEquals("PID.getError() did not start at " + setpoint, setpoint,
m_controller.getError(), 0);
m_builder.updateTable();
assertEquals(k_p, m_table.getEntry("p").getDouble(9999999), 0);
assertEquals(k_i, m_table.getEntry("i").getDouble(9999999), 0);
assertEquals(k_d, m_table.getEntry("d").getDouble(9999999), 0);
@@ -148,11 +153,12 @@ public class PIDTest extends AbstractComsSetup {
double setpoint = 2500.0;
m_controller.setSetpoint(setpoint);
m_controller.enable();
Timer.delay(.5);
m_builder.updateTable();
assertTrue(m_table.getEntry("enabled").getBoolean(false));
assertTrue(m_controller.isEnabled());
assertThat(0.0, is(not(me.getMotor().get())));
m_controller.reset();
m_builder.updateTable();
assertFalse(m_table.getEntry("enabled").getBoolean(true));
assertFalse(m_controller.isEnabled());
assertEquals(0, me.getMotor().get(), 0);

17
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
View File

@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.Relay.Direction;
import edu.wpi.first.wpilibj.Relay.InvalidValueException;
import edu.wpi.first.wpilibj.Relay.Value;
import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
@@ -34,13 +35,16 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
private static final NetworkTable table =
NetworkTableInstance.getDefault().getTable("_RELAY_CROSS_CONNECT_TEST_");
private RelayCrossConnectFixture m_relayFixture;
private SendableBuilderImpl m_builder;
@Before
public void setUp() throws Exception {
m_relayFixture = TestBench.getRelayCrossConnectFixture();
m_relayFixture.setup();
m_relayFixture.getRelay().initTable(table);
m_builder = new SendableBuilderImpl();
m_builder.setTable(table);
m_relayFixture.getRelay().initSendable(m_builder);
}
@After
@@ -53,7 +57,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testBothHigh() {
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kOn);
m_relayFixture.getRelay().updateTable();
m_builder.updateTable();
assertTrue("Input one was not high when relay set both high", m_relayFixture.getInputOne()
.get());
assertTrue("Input two was not high when relay set both high", m_relayFixture.getInputTwo()
@@ -66,7 +70,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testFirstHigh() {
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kForward);
m_relayFixture.getRelay().updateTable();
m_builder.updateTable();
assertFalse("Input one was not low when relay set Value.kForward", m_relayFixture.getInputOne()
.get());
assertTrue("Input two was not high when relay set Value.kForward", m_relayFixture
@@ -80,7 +84,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testSecondHigh() {
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kReverse);
m_relayFixture.getRelay().updateTable();
m_builder.updateTable();
assertTrue("Input one was not high when relay set Value.kReverse", m_relayFixture.getInputOne()
.get());
assertFalse("Input two was not low when relay set Value.kReverse", m_relayFixture
@@ -94,7 +98,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testForwardDirection() {
m_relayFixture.getRelay().setDirection(Direction.kForward);
m_relayFixture.getRelay().set(Value.kOn);
m_relayFixture.getRelay().updateTable();
m_builder.updateTable();
assertFalse("Input one was not low when relay set Value.kOn in kForward Direction",
m_relayFixture.getInputOne().get());
assertTrue("Input two was not high when relay set Value.kOn in kForward Direction",
@@ -107,7 +111,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testReverseDirection() {
m_relayFixture.getRelay().setDirection(Direction.kReverse);
m_relayFixture.getRelay().set(Value.kOn);
m_relayFixture.getRelay().updateTable();
m_builder.updateTable();
assertTrue("Input one was not high when relay set Value.kOn in kReverse Direction",
m_relayFixture.getInputOne().get());
assertFalse("Input two was not low when relay set Value.kOn in kReverse Direction",
@@ -130,6 +134,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
@Test
public void testInitialSettings() {
m_builder.updateTable();
assertEquals(Value.kOff, m_relayFixture.getRelay().get());
// Initially both outputs should be off
assertFalse(m_relayFixture.getInputOne().get());