This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindow.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindow.cpp
new file mode 100644
index 0000000..2202a10
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindow.cpp
@@ -0,0 +1,189 @@
+#include "LiveWindow/LiveWindow.h"
+#include "networktables/NetworkTable.h"
+#include <algorithm>
+#include <sstream>
+
+LiveWindow* LiveWindow::m_instance = NULL;
+
+/**
+ * Get an instance of the LiveWindow main class
+ * This is a singleton to guarantee that there is only a single instance regardless of
+ * how many times GetInstance is called.
+ */
+LiveWindow * LiveWindow::GetInstance()
+{
+ if (m_instance == NULL)
+ {
+ m_instance = new LiveWindow();
+ }
+ return m_instance;
+}
+
+/**
+ * LiveWindow constructor.
+ * Allocate the necessary tables.
+ */
+LiveWindow::LiveWindow()
+{
+ m_enabled = false;
+ m_liveWindowTable = NetworkTable::GetTable("LiveWindow");
+ m_statusTable = m_liveWindowTable->GetSubTable("~STATUS~");
+ m_scheduler = Scheduler::GetInstance();
+}
+
+/**
+ * Change the enabled status of LiveWindow
+ * If it changes to enabled, start livewindow running otherwise stop it
+ */
+void LiveWindow::SetEnabled(bool enabled)
+{
+ if (m_enabled == enabled)
+ return;
+ if (enabled)
+ {
+ printf("Starting live window mode\n");
+ if (m_firstTime)
+ {
+ InitializeLiveWindowComponents();
+ m_firstTime = false;
+ }
+ m_scheduler->SetEnabled(false);
+ m_scheduler->RemoveAll();
+ for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
+ m_components.begin(); it != m_components.end(); ++it)
+ {
+ it->first->StartLiveWindowMode();
+ }
+ }
+ else
+ {
+ printf("Ending LiveWindow mode\n");
+ for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
+ m_components.begin(); it != m_components.end(); ++it)
+ {
+ it->first->StopLiveWindowMode();
+ }
+ m_scheduler->SetEnabled(true);
+ }
+ m_enabled = enabled;
+ m_statusTable->PutBoolean("LW Enabled", m_enabled);
+}
+
+LiveWindow::~LiveWindow()
+{
+}
+
+/**
+ * Add a Sensor associated with the subsystem and with call it by the given name.
+ * @param subsystem The subsystem this component is part of.
+ * @param name The name of this component.
+ * @param component A LiveWindowSendable component that represents a sensor.
+ */
+void LiveWindow::AddSensor(char *subsystem, char *name,
+ LiveWindowSendable *component)
+{
+ m_components[component].subsystem = subsystem;
+ m_components[component].name = name;
+ m_components[component].isSensor = true;
+}
+
+/**
+ * Add an Actuator associated with the subsystem and with call it by the given name.
+ * @param subsystem The subsystem this component is part of.
+ * @param name The name of this component.
+ * @param component A LiveWindowSendable component that represents a actuator.
+ */
+void LiveWindow::AddActuator(char *subsystem, char *name,
+ LiveWindowSendable *component)
+{
+ m_components[component].subsystem = subsystem;
+ m_components[component].name = name;
+ m_components[component].isSensor = false;
+}
+
+/**
+ * INTERNAL
+ */
+void LiveWindow::AddSensor(std::string type, int module, int channel, LiveWindowSendable *component)
+{
+ std::ostringstream oss;
+ oss << type << "[" << module << "," << channel << "]";
+ std::string types(oss.str());
+ char* cc = new char[types.size() + 1];
+ types.copy(cc, types.size());
+ cc[types.size()]='\0';
+ AddSensor("Ungrouped", cc, component);
+ if (std::find(m_sensors.begin(), m_sensors.end(), component) == m_sensors.end())
+ m_sensors.push_back(component);
+}
+
+/**
+ * INTERNAL
+ */
+void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWindowSendable *component)
+{
+ std::ostringstream oss;
+ oss << type << "[" << module << "," << channel << "]";
+ std::string types(oss.str());
+ char* cc = new char[types.size() + 1];
+ types.copy(cc, types.size());
+ cc[types.size()]='\0';
+ AddActuator("Ungrouped", cc, component);
+}
+
+/**
+ * Tell all the sensors to update (send) their values
+ * Actuators are handled through callbacks on their value changing from the
+ * SmartDashboard widgets.
+ */
+void LiveWindow::UpdateValues()
+{
+ for (unsigned int i = 0; i < m_sensors.size(); i++)
+ {
+ m_sensors[i]->UpdateTable();
+ }
+}
+
+/**
+ * This method is called periodically to cause the sensors to send new values
+ * to the SmartDashboard.
+ */
+void LiveWindow::Run()
+{
+ if (m_enabled)
+ {
+ UpdateValues();
+ }
+}
+
+/**
+ * Initialize all the LiveWindow elements the first time we enter LiveWindow mode.
+ * By holding off creating the NetworkTable entries, it allows them to be redefined
+ * before the first time in LiveWindow mode. This allows default sensor and actuator
+ * values to be created that are replaced with the custom names from users calling
+ * addActuator and addSensor.
+ */
+void LiveWindow::InitializeLiveWindowComponents()
+{
+ for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
+ m_components.begin(); it != m_components.end(); ++it)
+ {
+ LiveWindowSendable *component = it->first;
+ LiveWindowComponent c = it->second;
+ std::string subsystem = c.subsystem;
+ std::string name = c.name;
+ m_liveWindowTable->GetSubTable(subsystem)->PutString("~TYPE~",
+ "LW Subsystem");
+ ITable *table = m_liveWindowTable->GetSubTable(subsystem)->GetSubTable(
+ name);
+ table->PutString("~TYPE~", component->GetSmartDashboardType());
+ table->PutString("Name", name);
+ table->PutString("Subsystem", subsystem);
+ component->InitTable(table);
+ if (c.isSensor)
+ {
+ m_sensors.push_back(component);
+ }
+ }
+}
+
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindow.h b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindow.h
new file mode 100644
index 0000000..efdddf6
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindow.h
@@ -0,0 +1,67 @@
+#ifndef _LIVE_WINDOW_H
+#define _LIVE_WINDOW_H
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "tables/ITable.h"
+#include "Commands/Scheduler.h"
+#include <vector>
+#include <map>
+
+struct LiveWindowComponent
+{
+ std::string subsystem;
+ std::string name;
+ bool isSensor;
+
+ LiveWindowComponent()
+ {}//WTF?
+ LiveWindowComponent(std::string subsystem, std::string name, bool isSensor)
+ {
+ this->subsystem = subsystem;
+ this->name = name;
+ this->isSensor = isSensor;
+ }
+};
+
+/**
+ * The LiveWindow class is the public interface for putting sensors and actuators
+ * on the LiveWindow.
+ *
+ * @author Brad Miller
+ */
+class LiveWindow {
+public:
+ static LiveWindow * GetInstance();
+ void Run();
+ void AddSensor(char *subsystem, char *name, LiveWindowSendable *component);
+ void AddActuator(char *subsystem, char *name, LiveWindowSendable *component);
+ void AddSensor(std::string type, int module, int channel, LiveWindowSendable *component);
+ void AddActuator(std::string type, int module, int channel, LiveWindowSendable *component);
+
+ bool IsEnabled() { return m_enabled; }
+ void SetEnabled(bool enabled);
+
+protected:
+ LiveWindow();
+ virtual ~LiveWindow();
+
+private:
+ void UpdateValues();
+ void Initialize();
+ void InitializeLiveWindowComponents();
+
+ std::vector<LiveWindowSendable *> m_sensors;
+ std::map<LiveWindowSendable *, LiveWindowComponent> m_components;
+
+ static LiveWindow *m_instance;
+ ITable *m_liveWindowTable;
+ ITable *m_statusTable;
+
+ Scheduler *m_scheduler;
+
+ bool m_enabled;
+ bool m_firstTime;
+};
+
+#endif
+
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowSendable.h b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowSendable.h
new file mode 100644
index 0000000..dd3039f
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowSendable.h
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) Patrick Plenefisch 2012. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef LIVEWINDOWSENDABLE_H_
+#define LIVEWINDOWSENDABLE_H_
+
+#include "SmartDashboard/Sendable.h"
+
+/**
+ * Live Window Sendable is a special type of object sendable to the live window.
+ *
+ * @author Patrick Plenefisch
+ */
+class LiveWindowSendable: public Sendable
+{
+public:
+ /**
+ * Update the table for this sendable object with the latest
+ * values.
+ */
+ virtual void UpdateTable() = 0;
+
+ /**
+ * Start having this sendable object automatically respond to
+ * value changes reflect the value on the table.
+ */
+ virtual void StartLiveWindowMode() = 0;
+
+ /**
+ * Stop having this sendable object automatically respond to value
+ * changes.
+ */
+ virtual void StopLiveWindowMode() = 0;
+};
+
+
+#endif /* LIVEWINDOWSENDABLE_H_ */
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowStatusListener.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowStatusListener.cpp
new file mode 100644
index 0000000..5254a7a
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowStatusListener.cpp
@@ -0,0 +1,7 @@
+#include "LiveWindow/LiveWindowStatusListener.h"
+#include "Commands/Scheduler.h"
+
+void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
+
+}
+
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowStatusListener.h b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowStatusListener.h
new file mode 100644
index 0000000..bf33f41
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/LiveWindow/LiveWindowStatusListener.h
@@ -0,0 +1,12 @@
+#ifndef _LIVE_WINDOW_STATUS_LISTENER_H
+#define _LIVE_WINDOW_STATUS_LISTENER_H
+
+#include "tables/ITable.h"
+#include "tables/ITableListener.h"
+
+class LiveWindowStatusListener : public ITableListener {
+public:
+ virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
+};
+
+#endif