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[wpilibc] Cache NT values from driver station (#2768)

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This significantly reduces malloc traffic by avoiding NT data allocations.
This commit is contained in:
Kevin Jaget
2020-11-15 13:48:54 -05:00
committed by GitHub
parent 47c59859ee
commit fc27fdac57
1 changed files with 70 additions and 39 deletions
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109
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -8,6 +8,8 @@
#include "frc/DriverStation.h"
#include <chrono>
#include <string>
#include <type_traits>
#include <hal/DriverStation.h>
#include <hal/HALBase.h>
@@ -23,41 +25,71 @@
#include "frc/WPIErrors.h"
namespace frc {
// A simple class which caches the previous value written to an NT entry
// Used to prevent redundant, repeated writes of the same value
template <class T>
class MatchDataSenderEntry {
public:
MatchDataSenderEntry(const std::shared_ptr<nt::NetworkTable>& table,
const wpi::Twine& key, const T& initialVal) {
static_assert(std::is_convertible<decltype(initialVal), bool>() ||
std::is_convertible<decltype(initialVal), double>() ||
std::is_convertible<decltype(initialVal), wpi::Twine>(),
"Invalid type for MatchDataSenderEntry - must be convertable "
"to bool, double or wpi::Twine");
ntEntry = table->GetEntry(key);
if constexpr (std::is_convertible<decltype(initialVal), bool>()) {
ntEntry.ForceSetBoolean(initialVal);
} else if constexpr (std::is_convertible<decltype(initialVal), double>()) {
ntEntry.ForceSetDouble(initialVal);
} else if constexpr (std::is_convertible<decltype(initialVal),
wpi::Twine>()) {
ntEntry.ForceSetString(initialVal);
}
prevVal = initialVal;
}
void Set(const T& val) {
if (val != prevVal) {
SetValue(val);
prevVal = val;
}
}
private:
nt::NetworkTableEntry ntEntry;
T prevVal;
void SetValue(bool val) { ntEntry.SetBoolean(val); }
void SetValue(double val) { ntEntry.SetDouble(val); }
void SetValue(const wpi::Twine& val) { ntEntry.SetString(val); }
};
class MatchDataSender {
public:
std::shared_ptr<nt::NetworkTable> table;
nt::NetworkTableEntry typeMetadata;
nt::NetworkTableEntry gameSpecificMessage;
nt::NetworkTableEntry eventName;
nt::NetworkTableEntry matchNumber;
nt::NetworkTableEntry replayNumber;
nt::NetworkTableEntry matchType;
nt::NetworkTableEntry alliance;
nt::NetworkTableEntry station;
nt::NetworkTableEntry controlWord;
MatchDataSenderEntry<std::string> typeMetaData;
MatchDataSenderEntry<std::string> gameSpecificMessage;
MatchDataSenderEntry<std::string> eventName;
MatchDataSenderEntry<double> matchNumber;
MatchDataSenderEntry<double> replayNumber;
MatchDataSenderEntry<double> matchType;
MatchDataSenderEntry<bool> alliance;
MatchDataSenderEntry<double> station;
MatchDataSenderEntry<double> controlWord;
MatchDataSender() {
table = nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo");
typeMetadata = table->GetEntry(".type");
typeMetadata.ForceSetString("FMSInfo");
gameSpecificMessage = table->GetEntry("GameSpecificMessage");
gameSpecificMessage.ForceSetString("");
eventName = table->GetEntry("EventName");
eventName.ForceSetString("");
matchNumber = table->GetEntry("MatchNumber");
matchNumber.ForceSetDouble(0);
replayNumber = table->GetEntry("ReplayNumber");
replayNumber.ForceSetDouble(0);
matchType = table->GetEntry("MatchType");
matchType.ForceSetDouble(0);
alliance = table->GetEntry("IsRedAlliance");
alliance.ForceSetBoolean(true);
station = table->GetEntry("StationNumber");
station.ForceSetDouble(1);
controlWord = table->GetEntry("FMSControlData");
controlWord.ForceSetDouble(0);
}
MatchDataSender()
: table(nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo")),
typeMetaData(table, ".type", "FMSInfo"),
gameSpecificMessage(table, "GameSpecificMessage", ""),
eventName(table, "EventName", ""),
matchNumber(table, "MatchNumber", 0.0),
replayNumber(table, "ReplayNumber", 0.0),
matchType(table, "MatchType", 0.0),
alliance(table, "IsRedAlliance", true),
station(table, "StationNumber", 1.0),
controlWord(table, "FMSControlData", 0.0) {}
};
} // namespace frc
@@ -642,20 +674,19 @@ void DriverStation::SendMatchData() {
HAL_MatchInfo tmpDataStore;
HAL_GetMatchInfo(&tmpDataStore);
m_matchDataSender->alliance.SetBoolean(isRedAlliance);
m_matchDataSender->station.SetDouble(stationNumber);
m_matchDataSender->eventName.SetString(tmpDataStore.eventName);
m_matchDataSender->gameSpecificMessage.SetString(
m_matchDataSender->alliance.Set(isRedAlliance);
m_matchDataSender->station.Set(stationNumber);
m_matchDataSender->eventName.Set(tmpDataStore.eventName);
m_matchDataSender->gameSpecificMessage.Set(
std::string(reinterpret_cast<char*>(tmpDataStore.gameSpecificMessage),
tmpDataStore.gameSpecificMessageSize));
m_matchDataSender->matchNumber.SetDouble(tmpDataStore.matchNumber);
m_matchDataSender->replayNumber.SetDouble(tmpDataStore.replayNumber);
m_matchDataSender->matchType.SetDouble(
static_cast<int>(tmpDataStore.matchType));
m_matchDataSender->matchNumber.Set(tmpDataStore.matchNumber);
m_matchDataSender->replayNumber.Set(tmpDataStore.replayNumber);
m_matchDataSender->matchType.Set(static_cast<int>(tmpDataStore.matchType));
HAL_ControlWord ctlWord;
HAL_GetControlWord(&ctlWord);
int32_t wordInt = 0;
std::memcpy(&wordInt, &ctlWord, sizeof(wordInt));
m_matchDataSender->controlWord.SetDouble(wordInt);
m_matchDataSender->controlWord.Set(wordInt);
}