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Make Sendable setters synchronous (#1799)

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Instead of being called asynchronously by NetworkTables, they are now called by updateValues() synchronously with the main loop, just like the getters.
This commit is contained in:
Oblarg
2019-08-03 18:08:06 -04:00
committed by Peter Johnson
parent c67a488a09
commit fbe67c90c8
8 changed files with 194 additions and 23 deletions
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28
wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp Normal file
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@@ -0,0 +1,28 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/smartdashboard/ListenerExecutor.h"
using namespace frc::detail;
void ListenerExecutor::Execute(std::function<void()> task) {
std::scoped_lock lock(m_lock);
m_tasks.emplace_back(task);
}
void ListenerExecutor::RunListenerTasks() {
// Locally copy tasks from internal list; minimizes blocking time
{
std::scoped_lock lock(m_lock);
std::swap(m_tasks, m_runningTasks);
}
for (auto&& task : m_runningTasks) {
task();
}
m_runningTasks.clear();
}

44
wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 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. */
@@ -10,6 +10,8 @@
#include <ntcore_cpp.h>
#include <wpi/SmallString.h>
#include "frc/smartdashboard/SmartDashboard.h"
using namespace frc;
void SendableBuilderImpl::SetTable(std::shared_ptr<nt::NetworkTable> table) {
@@ -88,7 +90,8 @@ void SendableBuilderImpl::AddBooleanProperty(const wpi::Twine& key,
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBoolean()) return;
setter(event.value->GetBoolean());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetBoolean()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -111,7 +114,8 @@ void SendableBuilderImpl::AddDoubleProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDouble()) return;
setter(event.value->GetDouble());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetDouble()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -134,7 +138,8 @@ void SendableBuilderImpl::AddStringProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsString()) return;
setter(event.value->GetString());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetString()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -157,7 +162,8 @@ void SendableBuilderImpl::AddBooleanArrayProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBooleanArray()) return;
setter(event.value->GetBooleanArray());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetBooleanArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -180,7 +186,8 @@ void SendableBuilderImpl::AddDoubleArrayProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDoubleArray()) return;
setter(event.value->GetDoubleArray());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetDoubleArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -203,7 +210,8 @@ void SendableBuilderImpl::AddStringArrayProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsStringArray()) return;
setter(event.value->GetStringArray());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetStringArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -226,7 +234,8 @@ void SendableBuilderImpl::AddRawProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsRaw()) return;
setter(event.value->GetRaw());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetRaw()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -247,7 +256,9 @@ void SendableBuilderImpl::AddValueProperty(
m_properties.back().createListener =
[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
return entry.AddListener(
[=](const nt::EntryNotification& event) { setter(event.value); },
[=](const nt::EntryNotification& event) {
SmartDashboard::PostListenerTask([=] { setter(event.value); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
}
@@ -271,7 +282,8 @@ void SendableBuilderImpl::AddSmallStringProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsString()) return;
setter(event.value->GetString());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetString()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -296,7 +308,8 @@ void SendableBuilderImpl::AddSmallBooleanArrayProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBooleanArray()) return;
setter(event.value->GetBooleanArray());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetBooleanArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -322,7 +335,8 @@ void SendableBuilderImpl::AddSmallDoubleArrayProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDoubleArray()) return;
setter(event.value->GetDoubleArray());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetDoubleArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -349,7 +363,8 @@ void SendableBuilderImpl::AddSmallStringArrayProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsStringArray()) return;
setter(event.value->GetStringArray());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetStringArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -374,7 +389,8 @@ void SendableBuilderImpl::AddSmallRawProperty(
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsRaw()) return;
setter(event.value->GetRaw());
SmartDashboard::PostListenerTask(
[=] { setter(event.value->GetRaw()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};

7
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
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@@ -254,10 +254,17 @@ std::shared_ptr<nt::Value> SmartDashboard::GetValue(wpi::StringRef keyName) {
return Singleton::GetInstance().table->GetEntry(keyName).GetValue();
}
detail::ListenerExecutor SmartDashboard::listenerExecutor;
void SmartDashboard::PostListenerTask(std::function<void()> task) {
listenerExecutor.Execute(task);
}
void SmartDashboard::UpdateValues() {
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
for (auto& i : inst.tablesToData) {
i.getValue().builder.UpdateTable();
}
listenerExecutor.RunListenerTasks();
}

41
wpilibc/src/main/native/include/frc/smartdashboard/ListenerExecutor.h Normal file
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@@ -0,0 +1,41 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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 <vector>
#include <wpi/mutex.h>
namespace frc::detail {
/**
* An executor for running listener tasks posted by Sendable listeners
* synchronously from the main application thread.
*
* @see Sendable
*/
class ListenerExecutor {
public:
/**
* Posts a task to the executor to be run synchronously from the main thread.
*
* @param task The task to run synchronously from the main thread.
*/
void Execute(std::function<void()> task);
/**
* Runs all posted tasks. Called periodically from main thread.
*/
void RunListenerTasks();
private:
std::vector<std::function<void()>> m_tasks;
std::vector<std::function<void()>> m_runningTasks;
wpi::mutex m_lock;
};
} // namespace frc::detail

14
wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2019 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. */
@@ -14,6 +14,7 @@
#include <networktables/NetworkTableValue.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/ListenerExecutor.h"
#include "frc/smartdashboard/SendableBase.h"
namespace frc {
@@ -401,6 +402,15 @@ class SmartDashboard : public ErrorBase, public SendableBase {
*/
static std::shared_ptr<nt::Value> GetValue(wpi::StringRef keyName);
/**
* Posts a task from a listener to the ListenerExecutor, so that it can be run
* synchronously from the main loop on the next call to {@link
* SmartDashboard#updateValues()}.
*
* @param task The task to run synchronously from the main thread.
*/
static void PostListenerTask(std::function<void()> task);
/**
* Puts all sendable data to the dashboard.
*/
@@ -408,6 +418,8 @@ class SmartDashboard : public ErrorBase, public SendableBase {
private:
virtual ~SmartDashboard() = default;
static detail::ListenerExecutor listenerExecutor;
};
} // namespace frc

50
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java Normal file
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@@ -0,0 +1,50 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.smartdashboard;
import java.util.ArrayList;
import java.util.Collection;
import java.util.concurrent.Executor;
/**
* An executor for running listener tasks posted by {@link edu.wpi.first.wpilibj.Sendable} listeners
* synchronously from the main application thread.
*/
class ListenerExecutor implements Executor {
private final Collection<Runnable> m_tasks = new ArrayList<>();
private final Object m_lock = new Object();
/**
* Posts a task to the executor to be run synchronously from the main thread.
*
* @param task The task to run synchronously from the main thread.
*/
@Override
public void execute(Runnable task) {
synchronized (m_lock) {
m_tasks.add(task);
}
}
/**
* Runs all posted tasks. Called periodically from main thread.
*/
public void runListenerTasks() {
// Locally copy tasks from internal list; minimizes blocking time
Collection<Runnable> tasks = new ArrayList<>();
synchronized (m_lock) {
tasks.addAll(m_tasks);
m_tasks.clear();
}
// Run all tasks
for (Runnable task : tasks) {
task.run();
}
}
}

16
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
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@@ -222,7 +222,7 @@ public class SendableBuilderImpl implements SendableBuilder {
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isBoolean()) {
setter.accept(event.value.getBoolean());
SmartDashboard.postListenerTask(() -> setter.accept(event.value.getBoolean()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -245,7 +245,7 @@ public class SendableBuilderImpl implements SendableBuilder {
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isDouble()) {
setter.accept(event.value.getDouble());
SmartDashboard.postListenerTask(() -> setter.accept(event.value.getDouble()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -268,7 +268,7 @@ public class SendableBuilderImpl implements SendableBuilder {
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isString()) {
setter.accept(event.value.getString());
SmartDashboard.postListenerTask(() -> setter.accept(event.value.getString()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -292,7 +292,7 @@ public class SendableBuilderImpl implements SendableBuilder {
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isBooleanArray()) {
setter.accept(event.value.getBooleanArray());
SmartDashboard.postListenerTask(() -> setter.accept(event.value.getBooleanArray()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -316,7 +316,7 @@ public class SendableBuilderImpl implements SendableBuilder {
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isDoubleArray()) {
setter.accept(event.value.getDoubleArray());
SmartDashboard.postListenerTask(() -> setter.accept(event.value.getDoubleArray()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -340,7 +340,7 @@ public class SendableBuilderImpl implements SendableBuilder {
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isStringArray()) {
setter.accept(event.value.getStringArray());
SmartDashboard.postListenerTask(() -> setter.accept(event.value.getStringArray()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -363,7 +363,7 @@ public class SendableBuilderImpl implements SendableBuilder {
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isRaw()) {
setter.accept(event.value.getRaw());
SmartDashboard.postListenerTask(() -> setter.accept(event.value.getRaw()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -386,7 +386,7 @@ public class SendableBuilderImpl implements SendableBuilder {
}
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
setter.accept(event.value);
SmartDashboard.postListenerTask(() -> setter.accept(event.value));
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
m_properties.add(property);

17
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
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@@ -50,6 +50,11 @@ public class SmartDashboard {
@SuppressWarnings("PMD.UseConcurrentHashMap")
private static final Map<String, Data> tablesToData = new HashMap<>();
/**
* The executor for listener tasks; calls listener tasks synchronously from main thread.
*/
private static final ListenerExecutor listenerExecutor = new ListenerExecutor();
static {
HAL.report(tResourceType.kResourceType_SmartDashboard, 0);
}
@@ -521,6 +526,16 @@ public class SmartDashboard {
return getEntry(key).getRaw(defaultValue);
}
/**
* Posts a task from a listener to the ListenerExecutor, so that it can be run synchronously
* from the main loop on the next call to {@link SmartDashboard#updateValues()}.
*
* @param task The task to run synchronously from the main thread.
*/
public static void postListenerTask(Runnable task) {
listenerExecutor.execute(task);
}
/**
* Puts all sendable data to the dashboard.
*/
@@ -528,5 +543,7 @@ public class SmartDashboard {
for (Data data : tablesToData.values()) {
data.m_builder.updateTable();
}
// Execute posted listener tasks
listenerExecutor.runListenerTasks();
}
}