mirror of
https://github.com/wpilibsuite/allwpilib
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58 lines
2.4 KiB
C++
58 lines
2.4 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc2/command/SubsystemBase.h"
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#include <frc/livewindow/LiveWindow.h>
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#include <frc/smartdashboard/SendableBuilder.h>
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#include <frc2/command/Command.h>
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#include <frc2/command/CommandScheduler.h>
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using namespace frc2;
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SubsystemBase::SubsystemBase() {
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m_name = GetTypeName(*this);
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CommandScheduler::GetInstance().RegisterSubsystem({this});
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}
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void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Subsystem");
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builder.AddBooleanProperty(".hasDefault",
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[this] { return GetDefaultCommand() != nullptr; },
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nullptr);
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builder.AddStringProperty(".default",
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[this]() -> std::string {
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auto command = GetDefaultCommand();
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if (command == nullptr) return "none";
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return command->GetName();
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},
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nullptr);
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builder.AddBooleanProperty(".hasCommand",
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[this] { return GetCurrentCommand() != nullptr; },
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nullptr);
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builder.AddStringProperty(".command",
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[this]() -> std::string {
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auto command = GetCurrentCommand();
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if (command == nullptr) return "none";
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return command->GetName();
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},
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nullptr);
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}
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std::string SubsystemBase::GetName() const { return m_name; }
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void SubsystemBase::SetName(const wpi::Twine& name) { m_name = name.str(); }
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std::string SubsystemBase::GetSubsystem() const { return GetName(); }
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void SubsystemBase::SetSubsystem(const wpi::Twine& name) { SetName(name); }
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void SubsystemBase::AddChild(std::string name, frc::Sendable* child) {
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child->SetName(name);
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frc::LiveWindow::GetInstance()->Add(child);
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}
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