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[glass, wpilib] Rewrite Mechanism2d (#3281)

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Substantially improves Mechanism2d by moving it to NetworkTables and adding
a robot API to create the mechanism elements, instead of requiring a JSON file.

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Starlight220
2021-04-30 23:43:59 +03:00
committed by GitHub
parent ee0eed143a
commit ff52f207cc
28 changed files with 1780 additions and 479 deletions
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41
wpilibc/src/main/native/cpp/simulation/Mechanism2D.cpp
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@@ -1,41 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/simulation/Mechanism2D.h"
#include <wpi/SmallString.h>
#include <wpi/Twine.h>
#include <wpi/raw_ostream.h>
using namespace frc;
Mechanism2D::Mechanism2D() : m_device{"Mechanism2D"} {}
void Mechanism2D::SetLigamentAngle(const wpi::Twine& ligamentPath,
float angle) {
if (m_device) {
wpi::SmallString<64> fullPathBuf;
wpi::StringRef fullPath =
(ligamentPath + "/angle").toNullTerminatedStringRef(fullPathBuf);
if (!createdItems.count(fullPath)) {
createdItems[fullPath] =
m_device.CreateDouble(fullPath.data(), false, angle);
}
createdItems[fullPath].Set(angle);
}
}
void Mechanism2D::SetLigamentLength(const wpi::Twine& ligamentPath,
float length) {
if (m_device) {
wpi::SmallString<64> fullPathBuf;
wpi::StringRef fullPath =
(ligamentPath + "/length").toNullTerminatedStringRef(fullPathBuf);
if (!createdItems.count(fullPath)) {
createdItems[fullPath] =
m_device.CreateDouble(fullPath.data(), false, length);
}
createdItems[fullPath].Set(length);
}
}