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[copybara] Resync robotpy (#8585)

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GitOrigin-RevId: fd000778e9b78c72cc7ca7b2ebe476129b78c6e0
This commit is contained in:
PJ Reiniger
2026-02-08 10:36:35 -05:00
committed by GitHub
parent 4aa21e947d
commit 227c89ab23
53 changed files with 1049 additions and 170 deletions
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2
commandsv2/src/main/python/commands2/button/commandgenerichid.py
View File

@@ -9,7 +9,7 @@ from .trigger import Trigger
class CommandGenericHID:
"""
A version of :class:`wpilib.interfaces.GenericHID` with :class:`.Trigger` factories for command-based.
A version of :class:`wpilib.GenericHID` with :class:`.Trigger` factories for command-based.
"""
def __init__(self, port: int):

4
commandsv2/src/main/python/commands2/button/joystickbutton.py
View File

@@ -6,7 +6,7 @@ from .trigger import Trigger
class JoystickButton(Trigger):
"""
A Button that gets its state from a :class:`wpilib.interfaces.GenericHID`.
A Button that gets its state from a :class:`wpilib.GenericHID`.
"""
def __init__(self, joystick: GenericHID, buttonNumber: int):
@@ -14,6 +14,6 @@ class JoystickButton(Trigger):
Creates a joystick button for triggering commands.
:param joystick: The GenericHID object that has the button (e.g. Joystick, KinectStick, etc)
:param buttonNumber: The button number (see :func:`wpilib.interfaces.GenericHID.getRawButton`
:param buttonNumber: The button number (see :func:`wpilib.GenericHID.getRawButton`
"""
super().__init__(lambda: joystick.getRawButton(buttonNumber))

6
commandsv2/src/main/python/commands2/button/networkbutton.py
View File

@@ -112,8 +112,7 @@ class NetworkButton(Trigger):
if inst is not None and table is not None and field is not None:
return init_inst_table_field(inst, table, field)
raise TypeError(
f"""
raise TypeError(f"""
TypeError: NetworkButton(): incompatible function arguments. The following argument types are supported:
1. (self: NetworkButton, topic: BooleanTopic)
2. (self: NetworkButton, sub: BooleanSubscriber)
@@ -122,5 +121,4 @@ TypeError: NetworkButton(): incompatible function arguments. The following argum
5. (self: NetworkButton, inst: NetworkTableInstance, table: str, field: str)
Invoked with: {format_args_kwargs(self, *args, **kwargs)}
"""
)
""")

4
commandsv2/src/main/python/commands2/button/povbutton.py
View File

@@ -6,7 +6,7 @@ from .trigger import Trigger
class POVButton(Trigger):
"""
A Button that gets its state from a POV on a :class:`wpilib.interfaces.GenericHID`.
A Button that gets its state from a POV on a :class:`wpilib.GenericHID`.
"""
def __init__(self, joystick: GenericHID, angle: int, povNumber: int = 0):
@@ -15,6 +15,6 @@ class POVButton(Trigger):
:param joystick: The GenericHID object that has the POV
:param angle: The desired angle in degrees (e.g. 90, 270)
:param povNumber: The POV number (see :func:`wpilib.interfaces.GenericHID.getPOV`)
:param povNumber: The POV number (see :func:`wpilib.GenericHID.getPOV`)
"""
super().__init__(lambda: joystick.getPOV(povNumber) == angle)

97
commandsv2/src/main/python/commands2/button/trigger.py
View File

@@ -73,16 +73,29 @@ class Trigger:
if loop is not None and condition is not None:
return init_loop_condition(loop, condition)
raise TypeError(
f"""
raise TypeError(f"""
TypeError: Trigger(): incompatible function arguments. The following argument types are supported:
1. (self: Trigger)
2. (self: Trigger, condition: () -> bool)
3. (self: Trigger, loop: EventLoop, condition: () -> bool)
Invoked with: {format_args_kwargs(self, *args, **kwargs)}
"""
)
""")
def _add_binding(self, body: Callable[[bool, bool], None]) -> None:
"""
Adds a binding to the EventLoop.
:param body: The body of the binding to add.
"""
state = SimpleNamespace(previous=self._condition())
@self._loop.bind
def _():
current = self._condition()
body(state.previous, current)
state.previous = current
def onTrue(self, command: Command) -> Self:
"""
@@ -92,14 +105,10 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
:returns: this trigger, so calls can be chained
"""
state = SimpleNamespace(pressed_last=self._condition())
@self._loop.bind
def _():
pressed = self._condition()
if not state.pressed_last and pressed:
@self._add_binding
def _(previous, current):
if not previous and current:
command.schedule()
state.pressed_last = pressed
return self
@@ -111,14 +120,10 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
:returns: this trigger, so calls can be chained
"""
state = SimpleNamespace(pressed_last=self._condition())
@self._loop.bind
def _():
pressed = self._condition()
if state.pressed_last and not pressed:
@self._add_binding
def _(previous, current):
if previous and not current:
command.schedule()
state.pressed_last = pressed
return self
@@ -130,17 +135,11 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
:returns: this trigger, so calls can be chained
"""
state = SimpleNamespace(pressed_last=self._condition())
@self._loop.bind
def _():
pressed = self._condition()
if state.pressed_last != pressed:
@self._add_binding
def _(previous, current):
if previous != current:
command.schedule()
state.pressed_last = pressed
return self
def whileTrue(self, command: Command) -> Self:
@@ -155,16 +154,12 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
:returns: this trigger, so calls can be chained
"""
state = SimpleNamespace(pressed_last=self._condition())
@self._loop.bind
def _():
pressed = self._condition()
if not state.pressed_last and pressed:
@self._add_binding
def _(previous, current):
if not previous and current:
command.schedule()
elif state.pressed_last and not pressed:
elif previous and not current:
command.cancel()
state.pressed_last = pressed
return self
@@ -180,16 +175,12 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
:returns: this trigger, so calls can be chained
"""
state = SimpleNamespace(pressed_last=self._condition())
@self._loop.bind
def _():
pressed = self._condition()
if state.pressed_last and not pressed:
@self._add_binding
def _(previous, current):
if previous and not current:
command.schedule()
elif not state.pressed_last and pressed:
elif not previous and current:
command.cancel()
state.pressed_last = pressed
return self
@@ -201,17 +192,13 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
:returns: this trigger, so calls can be chained
"""
state = SimpleNamespace(pressed_last=self._condition())
@self._loop.bind
def _():
pressed = self._condition()
if not state.pressed_last and pressed:
@self._add_binding
def _(previous, current):
if not previous and current:
if command.isScheduled():
command.cancel()
else:
command.schedule()
state.pressed_last = pressed
return self
@@ -223,17 +210,13 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
:returns: this trigger, so calls can be chained
"""
state = SimpleNamespace(pressed_last=self._condition())
@self._loop.bind
def _():
pressed = self._condition()
if state.pressed_last and not pressed:
@self._add_binding
def _(previous, current):
if previous and not current:
if command.isScheduled():
command.cancel()
else:
command.schedule()
state.pressed_last = pressed
return self

3
commandsv2/src/main/python/commands2/commandscheduler.py
View File

@@ -9,13 +9,14 @@ from typing import Any, Callable, Dict, Iterable, List, Optional, Set, Union
import hal
from typing_extensions import Self
from wpilib import (
RobotBase,
DriverStation,
EventLoop,
RobotBase,
TimedRobot,
Watchdog,
reportWarning,
)
from wpiutil import Sendable, SendableBuilder, SendableRegistry
from .command import Command, InterruptionBehavior

6
commandsv2/src/main/python/commands2/proxycommand.py
View File

@@ -79,15 +79,13 @@ class ProxyCommand(Command):
elif callable(args[0]):
return init_supplier(args[0])
raise TypeError(
f"""
raise TypeError(f"""
TypeError: ProxyCommand(): incompatible function arguments. The following argument types are supported:
1. (self: ProxyCommand, supplier: () -> Command)
2. (self: ProxyCommand, command: Command)
Invoked with: {format_args_kwargs(self, *args, **kwargs)}
"""
)
""")
def initialize(self):
self._command = self._supplier()

1
commandsv2/src/main/python/commands2/sysid/__init__.py
View File

@@ -1,4 +1,3 @@
from .sysidroutine import SysIdRoutine
__all__ = ["SysIdRoutine"]

1
commandsv2/src/main/python/commands2/sysid/sysidroutine.py
View File

@@ -11,7 +11,6 @@ from wpimath.units import seconds, volts
from typing import Callable, Optional
volts_per_second = float

6
commandsv2/src/main/python/commands2/waituntilcommand.py
View File

@@ -63,15 +63,13 @@ class WaitUntilCommand(Command):
elif callable(args[0]):
return init_condition(args[0])
raise TypeError(
f"""
raise TypeError(f"""
TypeError: WaitUntilCommand(): incompatible function arguments. The following argument types are supported:
1. (self: WaitUntilCommand, condition: () -> bool)
2. (self: WaitUntilCommand, time: wpimath.units.seconds)
Invoked with: {format_args_kwargs(self, *args, **kwargs)}
"""
)
""")
def isFinished(self) -> bool:
return self._condition()