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https://github.com/wpilibsuite/allwpilib
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b60eb1544b
A few virtual functions are called by constructors or destructors, which is dangerous in C++ (as an overridden virtual impl won't be called, only the one in the current class). Fix by either marking the function final or not calling at all (if possible).
77 lines
2.5 KiB
C++
77 lines
2.5 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 "glass/networktables/NTPIDController.h"
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using namespace glass;
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NTPIDControllerModel::NTPIDControllerModel(wpi::StringRef path)
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: NTPIDControllerModel(nt::GetDefaultInstance(), path) {}
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NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
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wpi::StringRef path)
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: m_nt(instance),
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m_name(m_nt.GetEntry(path + "/.name")),
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m_p(m_nt.GetEntry(path + "/p")),
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m_i(m_nt.GetEntry(path + "/i")),
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m_d(m_nt.GetEntry(path + "/d")),
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m_setpoint(m_nt.GetEntry(path + "/setpoint")),
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m_pData("NTPIDCtrlP:" + path),
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m_iData("NTPIDCtrlI:" + path),
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m_dData("NTPIDCtrlD:" + path),
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m_setpointData("NTPIDCtrlStpt:" + path),
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m_nameValue(path.rsplit('/').second) {
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m_nt.AddListener(m_name);
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m_nt.AddListener(m_p);
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m_nt.AddListener(m_i);
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m_nt.AddListener(m_d);
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m_nt.AddListener(m_setpoint);
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}
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void NTPIDControllerModel::SetP(double value) {
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nt::SetEntryValue(m_p, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::SetI(double value) {
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nt::SetEntryValue(m_i, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::SetD(double value) {
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nt::SetEntryValue(m_d, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::SetSetpoint(double value) {
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nt::SetEntryValue(m_setpoint, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::Update() {
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for (auto&& event : m_nt.PollListener()) {
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if (event.entry == m_name) {
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if (event.value && event.value->IsString()) {
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m_nameValue = event.value->GetString();
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}
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} else if (event.entry == m_p) {
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if (event.value && event.value->IsDouble()) {
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m_pData.SetValue(event.value->GetDouble());
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}
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} else if (event.entry == m_i) {
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if (event.value && event.value->IsDouble()) {
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m_iData.SetValue(event.value->GetDouble());
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}
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} else if (event.entry == m_d) {
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if (event.value && event.value->IsDouble()) {
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m_dData.SetValue(event.value->GetDouble());
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}
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} else if (event.entry == m_setpoint) {
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if (event.value && event.value->IsDouble()) {
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m_setpointData.SetValue(event.value->GetDouble());
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}
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}
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}
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}
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bool NTPIDControllerModel::Exists() {
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return m_nt.IsConnected() && nt::GetEntryType(m_setpoint) != NT_UNASSIGNED;
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}
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