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Add requirements param to more Command APIs (#2059)

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Assorted improvements to the ergonomics of declaring requirements in the new
command framework. C++ requirements list parameters have been defaulted
to an empty list, some missing C++ requirements list parameters have been
added, and both C++ and Java have been given requirements list params in
various InstantCommand wrapper methods (#2049), whose value is
forwarded to the command.
This commit is contained in:
Oblarg
2019-11-08 21:30:30 -05:00
committed by Peter Johnson
parent ff39a96cee
commit 00228678d4
18 changed files with 97 additions and 59 deletions
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10
wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
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@@ -48,19 +48,21 @@ ParallelRaceGroup Command::WithInterrupt(std::function<bool()> condition) && {
return ParallelRaceGroup(std::move(temp));
}
SequentialCommandGroup Command::BeforeStarting(std::function<void()> toRun) && {
SequentialCommandGroup Command::BeforeStarting(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::make_unique<InstantCommand>(
std::move(toRun), std::initializer_list<Subsystem*>{}));
std::move(toRun), requirements));
temp.emplace_back(std::move(*this).TransferOwnership());
return SequentialCommandGroup(std::move(temp));
}
SequentialCommandGroup Command::AndThen(std::function<void()> toRun) && {
SequentialCommandGroup Command::AndThen(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::move(*this).TransferOwnership());
temp.emplace_back(std::make_unique<InstantCommand>(
std::move(toRun), std::initializer_list<Subsystem*>{}));
std::move(toRun), requirements));
return SequentialCommandGroup(std::move(temp));
}

7
wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
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@@ -12,11 +12,14 @@ using namespace frc2;
FunctionalCommand::FunctionalCommand(std::function<void()> onInit,
std::function<void()> onExecute,
std::function<void(bool)> onEnd,
std::function<bool()> isFinished)
std::function<bool()> isFinished,
std::initializer_list<Subsystem*> requirements)
: m_onInit{std::move(onInit)},
m_onExecute{std::move(onExecute)},
m_onEnd{std::move(onEnd)},
m_isFinished{std::move(isFinished)} {}
m_isFinished{std::move(isFinished)} {
AddRequirements(requirements);
}
void FunctionalCommand::Initialize() { m_onInit(); }

15
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
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@@ -16,8 +16,9 @@ Button Button::WhenPressed(Command* command, bool interruptible) {
return *this;
}
Button Button::WhenPressed(std::function<void()> toRun) {
WhenActive(std::move(toRun));
Button Button::WhenPressed(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
WhenActive(std::move(toRun), requirements);
return *this;
}
@@ -26,8 +27,9 @@ Button Button::WhileHeld(Command* command, bool interruptible) {
return *this;
}
Button Button::WhileHeld(std::function<void()> toRun) {
WhileActiveContinous(std::move(toRun));
Button Button::WhileHeld(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
WhileActiveContinous(std::move(toRun), requirements);
return *this;
}
@@ -41,8 +43,9 @@ Button Button::WhenReleased(Command* command, bool interruptible) {
return *this;
}
Button Button::WhenReleased(std::function<void()> toRun) {
WhenInactive(std::move(toRun));
Button Button::WhenReleased(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
WhenInactive(std::move(toRun), requirements);
return *this;
}

15
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
View File

@@ -28,8 +28,9 @@ Trigger Trigger::WhenActive(Command* command, bool interruptible) {
return *this;
}
Trigger Trigger::WhenActive(std::function<void()> toRun) {
return WhenActive(InstantCommand(std::move(toRun), {}));
Trigger Trigger::WhenActive(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
return WhenActive(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::WhileActiveContinous(Command* command, bool interruptible) {
@@ -48,8 +49,9 @@ Trigger Trigger::WhileActiveContinous(Command* command, bool interruptible) {
return *this;
}
Trigger Trigger::WhileActiveContinous(std::function<void()> toRun) {
return WhileActiveContinous(InstantCommand(std::move(toRun), {}));
Trigger Trigger::WhileActiveContinous(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
return WhileActiveContinous(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::WhileActiveOnce(Command* command, bool interruptible) {
@@ -82,8 +84,9 @@ Trigger Trigger::WhenInactive(Command* command, bool interruptible) {
return *this;
}
Trigger Trigger::WhenInactive(std::function<void()> toRun) {
return WhenInactive(InstantCommand(std::move(toRun), {}));
Trigger Trigger::WhenInactive(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
return WhenInactive(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::ToggleWhenActive(Command* command, bool interruptible) {