Updates from upstream (firstforge): NetworkTable handles deleted values, CAN has a new minimum version, ...
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4155 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp
index aea6fdf..957dda4 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp
@@ -15,8 +15,11 @@
static const char *kRunning = "running";
static const char *kIsParented = "isParented";
+int Command::m_commandCounter = 0;
+
void Command::InitCommand(const char *name, double timeout)
{
+ m_commandID = m_commandCounter++;
m_timeout = timeout;
m_locked = false;
m_startTime = -1;
@@ -95,6 +98,15 @@
}
/**
+ * Get the ID (sequence number) for this command
+ * The ID is a unique sequence number that is incremented for each command.
+ * @return the ID of this command
+ */
+int Command::GetID() {
+ return m_commandID;
+}
+
+/**
* Sets the timeout of this command.
* @param timeout the timeout (in seconds)
* @see Command#isTimedOut() isTimedOut()
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h
index 760c8f5..2704624 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h
@@ -65,6 +65,7 @@
CommandGroup *GetGroup();
void SetRunWhenDisabled(bool run);
bool WillRunWhenDisabled();
+ int GetID();
protected:
@@ -147,7 +148,8 @@
bool m_runWhenDisabled;
/** The {@link CommandGroup} this is in */
CommandGroup *m_parent;
-
+ int m_commandID;
+ static int m_commandCounter;
public:
virtual std::string GetName();
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp
index 9cd67d6..1ee067a 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp
@@ -19,20 +19,20 @@
Scheduler *Scheduler::_instance = NULL;
Scheduler::Scheduler() :
- m_buttonsLock(NULL),
- m_additionsLock(NULL),
- m_adding(false)
-{
- m_buttonsLock = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
- m_additionsLock = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
+ m_buttonsLock(NULL), m_additionsLock(NULL), m_adding(false) {
+ m_buttonsLock = semMCreate(
+ SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
+ m_additionsLock = semMCreate(
+ SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
- nUsageReporting::report(nUsageReporting::kResourceType_Command, nUsageReporting::kCommand_Scheduler);
-
+ nUsageReporting::report(nUsageReporting::kResourceType_Command,
+ nUsageReporting::kCommand_Scheduler);
+
+ m_table = NULL;
m_enabled = true;
}
-Scheduler::~Scheduler()
-{
+Scheduler::~Scheduler() {
semTake(m_additionsLock, WAIT_FOREVER);
semDelete(m_additionsLock);
@@ -44,8 +44,7 @@
* Returns the {@link Scheduler}, creating it if one does not exist.
* @return the {@link Scheduler}
*/
-Scheduler *Scheduler::GetInstance()
-{
+Scheduler *Scheduler::GetInstance() {
if (_instance == NULL)
_instance = new Scheduler();
return _instance;
@@ -61,53 +60,47 @@
* at the end of the pass, they are all scheduled.
* @param command The command to be scheduled
*/
-void Scheduler::AddCommand(Command *command)
-{
+void Scheduler::AddCommand(Command *command) {
Synchronized sync(m_additionsLock);
- if (std::find(m_additions.begin(), m_additions.end(), command) != m_additions.end())
+ if (std::find(m_additions.begin(), m_additions.end(), command)
+ != m_additions.end())
return;
m_additions.push_back(command);
}
-void Scheduler::AddButton(ButtonScheduler *button)
-{
+void Scheduler::AddButton(ButtonScheduler *button) {
Synchronized sync(m_buttonsLock);
m_buttons.push_back(button);
}
-void Scheduler::ProcessCommandAddition(Command *command)
-{
+void Scheduler::ProcessCommandAddition(Command *command) {
if (command == NULL)
return;
// Check to make sure no adding during adding
- if (m_adding)
- {
+ if (m_adding) {
wpi_setWPIErrorWithContext(IncompatibleState, "Can not start command from cancel method");
return;
}
// Only add if not already in
CommandSet::iterator found = m_commands.find(command);
- if (found == m_commands.end())
- {
+ if (found == m_commands.end()) {
// Check that the requirements can be had
Command::SubsystemSet requirements = command->GetRequirements();
Command::SubsystemSet::iterator iter;
- for (iter = requirements.begin(); iter != requirements.end(); iter++)
- {
+ for (iter = requirements.begin(); iter != requirements.end(); iter++) {
Subsystem *lock = *iter;
- if (lock->GetCurrentCommand() != NULL && !lock->GetCurrentCommand()->IsInterruptible())
+ if (lock->GetCurrentCommand() != NULL
+ && !lock->GetCurrentCommand()->IsInterruptible())
return;
}
// Give it the requirements
m_adding = true;
- for (iter = requirements.begin(); iter != requirements.end(); iter++)
- {
+ for (iter = requirements.begin(); iter != requirements.end(); iter++) {
Subsystem *lock = *iter;
- if (lock->GetCurrentCommand() != NULL)
- {
+ if (lock->GetCurrentCommand() != NULL) {
lock->GetCurrentCommand()->Cancel();
Remove(lock->GetCurrentCommand());
}
@@ -118,6 +111,7 @@
m_commands.insert(command);
command->StartRunning();
+ m_runningCommandsChanged = true;
}
}
@@ -133,30 +127,30 @@
* <li> Add Defaults </li>
* </ol>
*/
-void Scheduler::Run()
-{
+void Scheduler::Run() {
// Get button input (going backwards preserves button priority)
{
- if (!m_enabled) return;
+ if (!m_enabled)
+ return;
Synchronized sync(m_buttonsLock);
ButtonVector::reverse_iterator rButtonIter = m_buttons.rbegin();
- for (; rButtonIter != m_buttons.rend(); rButtonIter++)
- {
+ for (; rButtonIter != m_buttons.rend(); rButtonIter++) {
(*rButtonIter)->Execute();
}
}
+
+ m_runningCommandsChanged = false;
// Loop through the commands
CommandSet::iterator commandIter = m_commands.begin();
- for (; commandIter != m_commands.end();)
- {
+ for (; commandIter != m_commands.end();) {
Command *command = *commandIter;
// Increment before potentially removing to keep the iterator valid
commandIter++;
- if (!command->Run())
- {
+ if (!command->Run()) {
Remove(command);
+ m_runningCommandsChanged = true;
}
}
@@ -164,8 +158,7 @@
{
Synchronized sync(m_additionsLock);
CommandVector::iterator additionsIter = m_additions.begin();
- for (; additionsIter != m_additions.end(); additionsIter++)
- {
+ for (; additionsIter != m_additions.end(); additionsIter++) {
ProcessCommandAddition(*additionsIter);
}
m_additions.clear();
@@ -173,16 +166,14 @@
// Add in the defaults
Command::SubsystemSet::iterator subsystemIter = m_subsystems.begin();
- for (; subsystemIter != m_subsystems.end(); subsystemIter++)
- {
+ for (; subsystemIter != m_subsystems.end(); subsystemIter++) {
Subsystem *lock = *subsystemIter;
- if (lock->GetCurrentCommand() == NULL)
- {
+ if (lock->GetCurrentCommand() == NULL) {
ProcessCommandAddition(lock->GetDefaultCommand());
}
lock->ConfirmCommand();
}
-
+
UpdateTable();
}
@@ -191,10 +182,8 @@
* if a default {@link Command} needs to be run. All {@link Subsystem Subsystems} should call this.
* @param system the system
*/
-void Scheduler::RegisterSubsystem(Subsystem *subsystem)
-{
- if (subsystem == NULL)
- {
+void Scheduler::RegisterSubsystem(Subsystem *subsystem) {
+ if (subsystem == NULL) {
wpi_setWPIErrorWithContext(NullParameter, "subsystem");
return;
}
@@ -205,10 +194,8 @@
* Removes the {@link Command} from the {@link Scheduler}.
* @param command the command to remove
*/
-void Scheduler::Remove(Command *command)
-{
- if (command == NULL)
- {
+void Scheduler::Remove(Command *command) {
+ if (command == NULL) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
@@ -218,8 +205,7 @@
Command::SubsystemSet requirements = command->GetRequirements();
Command::SubsystemSet::iterator iter = requirements.begin();
- for (; iter != requirements.end(); iter++)
- {
+ for (; iter != requirements.end(); iter++) {
Subsystem *lock = *iter;
lock->SetCurrentCommand(NULL);
}
@@ -228,39 +214,49 @@
}
void Scheduler::RemoveAll() {
- while(m_commands.size()>0){
+ while (m_commands.size() > 0) {
Remove(*m_commands.begin());
}
}
+/**
+ * Update the network tables associated with the Scheduler object on the SmartDashboard
+ */
void Scheduler::UpdateTable() {
CommandSet::iterator commandIter;
if (m_table != NULL) {
- // Get the commands to cancel
+ // Get the list of possible commands to cancel
m_table->RetrieveValue("Cancel", *toCancel);
-
- for (commandIter = m_commands.begin(); commandIter != m_commands.end();) {
- for (unsigned i = 0; i < toCancel->size(); i++) {
- Command *c = *commandIter;
- if ((unsigned)c == toCancel->get(i)) {
- c->Cancel();
+// m_table->RetrieveValue("Ids", *ids);
+
+ // cancel commands that have had the cancel buttons pressed
+ // on the SmartDashboad
+ if (toCancel->size() > 0) {
+ for (commandIter = m_commands.begin(); commandIter
+ != m_commands.end(); ++commandIter) {
+ for (unsigned i = 0; i < toCancel->size(); i++) {
+ Command *c = *commandIter;
+ if (c->GetID() == toCancel->get(i)) {
+ c->Cancel();
+ }
}
}
+ toCancel->setSize(0);
+ m_table->PutValue("Cancel", *toCancel);
}
- toCancel->setSize(0);
- m_table->PutValue("Cancel", *toCancel);
-
- commands->setSize(0);
- ids->setSize(0);
// Set the running commands
- for (commandIter = m_commands.begin(); commandIter != m_commands.end();) {
- Command *c = *commandIter;
- commands->add(c->GetName());
- ids->add((unsigned)c);
+ if (m_runningCommandsChanged) {
+ commands->setSize(0);
+ ids->setSize(0);
+ for (commandIter = m_commands.begin(); commandIter != m_commands.end(); ++commandIter) {
+ Command *c = *commandIter;
+ commands->add(c->GetName());
+ ids->add(c->GetID());
+ }
+ m_table->PutValue("Names", *commands);
+ m_table->PutValue("Ids", *ids);
}
- m_table->PutValue("Names", *commands);
- m_table->PutValue("Ids", *ids);
}
}
@@ -281,7 +277,7 @@
commands = new StringArray();
ids = new NumberArray();
toCancel = new NumberArray();
-
+
m_table->PutValue("Names", *commands);
m_table->PutValue("Ids", *ids);
m_table->PutValue("Cancel", *toCancel);
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h
index 2636ac6..deef356 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h
@@ -64,6 +64,7 @@
NumberArray *ids;
NumberArray *toCancel;
ITable *m_table;
+ bool m_runningCommandsChanged;
};
#endif
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp
index dfd559c..c0d8c62 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp
@@ -22,6 +22,7 @@
m_name = name;
Scheduler::GetInstance()->RegisterSubsystem(this);
m_table = NULL;
+ m_currentCommandChanged = true;
}
/**
* Initialize the default command for this subsystem
@@ -106,6 +107,7 @@
void Subsystem::SetCurrentCommand(Command *command)
{
m_currentCommand = command;
+ m_currentCommandChanged = true;
}
/**
@@ -124,17 +126,20 @@
*/
void Subsystem::ConfirmCommand()
{
- if (m_table != NULL)
- {
- if (m_currentCommand != NULL)
+ if (m_currentCommandChanged) {
+ if (m_table != NULL)
{
- m_table->PutBoolean("hasCommand", true);
- m_table->PutString("command", m_currentCommand->GetName());
+ if (m_currentCommand != NULL)
+ {
+ m_table->PutBoolean("hasCommand", true);
+ m_table->PutString("command", m_currentCommand->GetName());
+ }
+ else
+ {
+ m_table->PutBoolean("hasCommand", false);
+ }
}
- else
- {
- m_table->PutBoolean("hasCommand", false);
- }
+ m_currentCommandChanged = false;
}
}
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h
index b04616d..9ef4f76 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h
@@ -31,6 +31,7 @@
void ConfirmCommand();
Command *m_currentCommand;
+ bool m_currentCommandChanged;
Command *m_defaultCommand;
std::string m_name;
bool m_initializedDefaultCommand;