Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places.
In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested.
In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one.
This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM.
After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors.
Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
This removes the name and subsystem from individual objects, and instead
puts this data into a new singleton class, SendableRegistry. Much of
LiveWindow has been refactored into SendableRegistry.
In C++, a new CRTP helper class, SendableHelper, has been added to provide
move and destruction functionality.
Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added
to Command and Subsystem (both old and new), and also to SendableHelper to
prevent code breakage.
This deprecates SendableBase in preparation for future removal.
The PCM tests recently were failing by being slightly higher than voltage than expected. raised the tolerance to account for this.
Voltage was still clearly less than the on state while in the off state.
Change-Id: I8ac28867024f3ce7b4104fc03622e6133ac2b80f
Years update, references to WIND_BASE were removed, and WPILib license was
moved to the root directory of the project.
If there was already a comment block, a year range through 2016 was created
using the first year in the comment. If there was no comment block, a block
with just the year 2016 was added.
Comments were not added to files from external sources (NI, CTRE).
Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.
The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.
Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
