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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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6
commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
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@@ -37,9 +37,9 @@ CommandPtr::CommandPtr(CommandPtr&& rhs) {
void CommandPtr::AssertValid() const {
if (!m_ptr) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Moved-from CommandPtr object used!\nMoved out at:\n{}",
m_moveOutSite);
throw WPILIB_MakeError(
wpi::err::CommandIllegalUse,
"Moved-from CommandPtr object used!\nMoved out at:\n{}", m_moveOutSite);
}
}

17
commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -285,7 +285,7 @@ void CommandScheduler::SetDefaultCommand(Subsystem* subsystem,
CommandPtr&& defaultCommand) {
if (!defaultCommand.get()->HasRequirement(subsystem)) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse, "{}",
"Default commands must require their subsystem!");
"Default commands must require their subsystem!");
}
RequireUngrouped(defaultCommand.get());
@@ -430,11 +430,12 @@ void CommandScheduler::OnCommandFinish(Action action) {
void CommandScheduler::RequireUngrouped(const Command* command) {
auto stacktrace = command->GetPreviousCompositionSite();
if (stacktrace.has_value()) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands that have been composed may not be added to "
"another composition or scheduled individually!"
"\nOriginally composed at:\n{}",
stacktrace.value());
throw WPILIB_MakeError(
wpi::err::CommandIllegalUse,
"Commands that have been composed may not be added to "
"another composition or scheduled individually!"
"\nOriginally composed at:\n{}",
stacktrace.value());
}
}
@@ -455,8 +456,8 @@ void CommandScheduler::RequireUngrouped(
void CommandScheduler::RequireUngroupedAndUnscheduled(const Command* command) {
if (IsScheduled(command)) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands that have been scheduled individually may "
"not be added to another composition!");
"Commands that have been scheduled individually may "
"not be added to another composition!");
}
RequireUngrouped(command);
}

3
commandsv2/src/main/native/cpp/frc2/command/Commands.cpp
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@@ -83,7 +83,8 @@ CommandPtr cmd::DeferredProxy(wpi::util::unique_function<Command*()> supplier) {
{});
}
CommandPtr cmd::DeferredProxy(wpi::util::unique_function<CommandPtr()> supplier) {
CommandPtr cmd::DeferredProxy(
wpi::util::unique_function<CommandPtr()> supplier) {
return Defer([supplier = std::move(
supplier)]() mutable { return supplier().AsProxy(); },
{});

5
commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp
View File

@@ -11,8 +11,9 @@
using namespace wpi::cmd;
DeferredCommand::DeferredCommand(wpi::util::unique_function<CommandPtr()> supplier,
Requirements requirements)
DeferredCommand::DeferredCommand(
wpi::util::unique_function<CommandPtr()> supplier,
Requirements requirements)
: m_supplier{std::move(supplier)} {
AddRequirements(requirements);
}

8
commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
View File

@@ -70,8 +70,8 @@ void ParallelCommandGroup::AddCommands(
if (isRunning) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
for (auto&& command : commands) {
@@ -86,8 +86,8 @@ void ParallelCommandGroup::AddCommands(
m_commands.emplace_back(std::move(command), false);
} else {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}
}
}

8
commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
View File

@@ -70,8 +70,8 @@ void ParallelDeadlineGroup::AddCommands(
if (!m_finished) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
for (auto&& command : commands) {
@@ -86,8 +86,8 @@ void ParallelDeadlineGroup::AddCommands(
m_commands.emplace_back(std::move(command), false);
} else {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}
}
}

8
commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
View File

@@ -57,8 +57,8 @@ void ParallelRaceGroup::AddCommands(
if (isRunning) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
for (auto&& command : commands) {
@@ -73,8 +73,8 @@ void ParallelRaceGroup::AddCommands(
m_commands.emplace_back(std::move(command));
} else {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}
}
}

5
commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp
View File

@@ -11,8 +11,9 @@
using namespace wpi::cmd;
PrintCommand::PrintCommand(std::string_view message)
: CommandHelper{[str = std::string(message)] { wpi::util::print("{}\n", str); },
{}} {}
: CommandHelper{
[str = std::string(message)] { wpi::util::print("{}\n", str); },
{}} {}
bool PrintCommand::RunsWhenDisabled() const {
return true;

4
commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
View File

@@ -69,8 +69,8 @@ void SequentialCommandGroup::AddCommands(
if (m_currentCommandIndex != invalid_index) {
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
for (auto&& command : commands) {

10
commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
View File

@@ -13,16 +13,18 @@ NetworkButton::NetworkButton(wpi::nt::BooleanTopic topic)
: NetworkButton(topic.Subscribe(false)) {}
NetworkButton::NetworkButton(wpi::nt::BooleanSubscriber sub)
: Trigger([sub = std::make_shared<wpi::nt::BooleanSubscriber>(std::move(sub))] {
return sub->GetTopic().GetInstance().IsConnected() && sub->Get();
}) {}
: Trigger(
[sub = std::make_shared<wpi::nt::BooleanSubscriber>(std::move(sub))] {
return sub->GetTopic().GetInstance().IsConnected() && sub->Get();
}) {}
NetworkButton::NetworkButton(std::shared_ptr<wpi::nt::NetworkTable> table,
std::string_view field)
: NetworkButton(table->GetBooleanTopic(field)) {}
NetworkButton::NetworkButton(std::string_view table, std::string_view field)
: NetworkButton(wpi::nt::NetworkTableInstance::GetDefault(), table, field) {}
: NetworkButton(wpi::nt::NetworkTableInstance::GetDefault(), table, field) {
}
NetworkButton::NetworkButton(wpi::nt::NetworkTableInstance inst,
std::string_view table, std::string_view field)