Add new C++ Command framework (#1785)

This is the C++ version of #1682.

The old command framework is still available, but will be deprecated.

Due to name conflicts, the new framework is in the frc2 namespace.
Eventually (after the old command framework is removed in a future year)
it will be moved into the main frc namespace.

wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp

@@ -0,0 +1,72 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc2/command/CommandScheduler.h>
+
+#include <frc/smartdashboard/SmartDashboard.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_container.GetAutonomousCommand();
+
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Cancel();
+    m_autonomousCommand = nullptr;
+  }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif

wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp

@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc2/command/CommandScheduler.h>
+#include <frc2/command/button/JoystickButton.h>
+
+#include <frc/shuffleboard/Shuffleboard.h>
+
+RobotContainer::RobotContainer() {
+  // Initialize all of your commands and subsystems here
+
+  // Set names of commands
+  m_instantCommand1.SetName("Instant Command 1");
+  m_instantCommand2.SetName("Instant Command 2");
+  m_waitCommand.SetName("Wait 5 Seconds Command");
+
+  // Set the scheduler to log Shuffleboard events for command initialize,
+  // interrupt, finish
+  frc2::CommandScheduler::GetInstance().OnCommandInitialize(
+      [](const frc2::Command& command) {
+        frc::Shuffleboard::AddEventMarker(
+            "Command Initialized", command.GetName(),
+            frc::ShuffleboardEventImportance::kNormal);
+      });
+  frc2::CommandScheduler::GetInstance().OnCommandInterrupt(
+      [](const frc2::Command& command) {
+        frc::Shuffleboard::AddEventMarker(
+            "Command Interrupted", command.GetName(),
+            frc::ShuffleboardEventImportance::kNormal);
+      });
+  frc2::CommandScheduler::GetInstance().OnCommandFinish(
+      [](const frc2::Command& command) {
+        frc::Shuffleboard::AddEventMarker(
+            "Command Finished", command.GetName(),
+            frc::ShuffleboardEventImportance::kNormal);
+      });
+
+  // Configure the button bindings
+  ConfigureButtonBindings();
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+  // Configure your button bindings here
+
+  // Run instant command 1 when the 'A' button is pressed
+  frc2::JoystickButton(&m_driverController, 0).WhenPressed(&m_instantCommand1);
+  // Run instant command 2 when the 'X' button is pressed
+  frc2::JoystickButton(&m_driverController, 3).WhenPressed(&m_instantCommand2);
+  // Run instant command 3 when the 'Y' button is held; release early to
+  // interrupt
+  frc2::JoystickButton(&m_driverController, 4).WhenHeld(&m_waitCommand);
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+  // no auto
+  return nullptr;
+}

wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Constants.h

@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or boolean constants.  This should not be used for any other
+ * purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+}  // namespace OIConstants

wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Robot.h

@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/Command.h>
+
+#include <frc/TimedRobot.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+
+ private:
+  // Have it null by default so that if testing teleop it
+  // doesn't have undefined behavior and potentially crash.
+  frc2::Command* m_autonomousCommand = nullptr;
+
+  RobotContainer m_container;
+};

wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/RobotContainer.h

@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/WaitCommand.h>
+
+#include <frc/XboxController.h>
+
+#include "Constants.h"
+
+/**
+ * This class is where the bulk of the robot should be declared.  Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls).  Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+  RobotContainer();
+
+  frc2::Command* GetAutonomousCommand();
+
+ private:
+  // The robot's subsystems and commands are defined here...
+
+  // The driver's controller
+  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+  // Three commands that do nothing; for demonstration purposes.
+  frc2::InstantCommand m_instantCommand1;
+  frc2::InstantCommand m_instantCommand2;
+  frc2::WaitCommand m_waitCommand{5};
+
+  void ConfigureButtonBindings();
+};