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[commands] Add GetName to Subsystem, use in Scheduler tracer epochs (#5836)

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This commit is contained in:
Ryan Blue
2023-12-01 02:10:53 -05:00
committed by GitHub
parent ac7d726ac3
commit 1144115da0
9 changed files with 37 additions and 8 deletions
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2
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -183,7 +183,7 @@ void CommandScheduler::Run() {
if constexpr (frc::RobotBase::IsSimulation()) {
subsystem.getFirst()->SimulationPeriodic();
}
m_watchdog.AddEpoch("Subsystem Periodic()");
m_watchdog.AddEpoch(subsystem.getFirst()->GetName() + ".Periodic()");
}
// Cache the active instance to avoid concurrency problems if SetActiveLoop()

6
wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
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@@ -4,6 +4,8 @@
#include "frc2/command/Subsystem.h"
#include <wpi/Demangle.h>
#include "frc2/command/CommandPtr.h"
#include "frc2/command/Commands.h"
@@ -16,6 +18,10 @@ void Subsystem::Periodic() {}
void Subsystem::SimulationPeriodic() {}
std::string Subsystem::GetName() const {
return wpi::GetTypeName(*this);
}
void Subsystem::SetDefaultCommand(CommandPtr&& defaultCommand) {
CommandScheduler::GetInstance().SetDefaultCommand(this,
std::move(defaultCommand));