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https://github.com/wpilibsuite/allwpilib
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d81ef2bc5c
UpdateEntries() and Flush() are called from methods that lock the mutex, so locking it again will cause deadlocks. This also updates the Java code to make MechanismObject2d::update synchronized like in the C++ version.
82 lines
2.1 KiB
C++
82 lines
2.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/smartdashboard/MechanismLigament2d.h"
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#include <cstdio>
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using namespace frc;
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MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
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units::degree_t angle,
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double lineWeight,
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const frc::Color8Bit& color)
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: MechanismObject2d(name),
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m_length{length},
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m_angle{angle.value()},
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m_weight{lineWeight} {
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SetColor(color);
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}
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void MechanismLigament2d::UpdateEntries(
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std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry(".type").SetString("line");
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m_colorEntry = table->GetEntry("color");
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m_angleEntry = table->GetEntry("angle");
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m_weightEntry = table->GetEntry("weight");
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m_lengthEntry = table->GetEntry("length");
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Flush();
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}
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void MechanismLigament2d::SetColor(const Color8Bit& color) {
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std::scoped_lock lock(m_mutex);
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std::snprintf(m_color, sizeof(m_color), "#%02X%02X%02X", color.red,
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color.green, color.blue);
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Flush();
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}
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void MechanismLigament2d::SetAngle(units::degree_t angle) {
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std::scoped_lock lock(m_mutex);
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m_angle = angle.value();
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Flush();
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}
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void MechanismLigament2d::SetLineWeight(double lineWidth) {
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std::scoped_lock lock(m_mutex);
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m_weight = lineWidth;
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Flush();
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}
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double MechanismLigament2d::GetAngle() {
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if (m_angleEntry) {
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m_angle = m_angleEntry.GetDouble(0.0);
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}
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return m_angle;
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}
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double MechanismLigament2d::GetLength() {
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if (m_lengthEntry) {
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m_length = m_lengthEntry.GetDouble(0.0);
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}
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return m_length;
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}
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void MechanismLigament2d::SetLength(double length) {
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std::scoped_lock lock(m_mutex);
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m_length = length;
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Flush();
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}
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#define SAFE_WRITE(data, Type) \
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if (m_##data##Entry) { \
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m_##data##Entry.Set##Type(m_##data); \
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}
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void MechanismLigament2d::Flush() {
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SAFE_WRITE(color, String)
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SAFE_WRITE(angle, Double)
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SAFE_WRITE(length, Double)
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SAFE_WRITE(weight, Double)
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}
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