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[build] Upgrade CI to clang-format 10.0 (#1961)

Browse Source 
MacOS no longer ships 6.0, and Arch Linux's mesa GPU drivers are no longer compatible with LLVM 6.0.
This commit is contained in:
Tyler Veness
2020-06-27 20:39:00 -07:00
committed by GitHub
parent 9796987d59
commit 22c0e2813a
62 changed files with 613 additions and 435 deletions
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68
.clang-format
View File

@@ -3,24 +3,29 @@ Language: Cpp
BasedOnStyle: Google
AccessModifierOffset: -1
AlignAfterOpenBracket: Align
AlignConsecutiveMacros: false
AlignConsecutiveAssignments: false
AlignConsecutiveDeclarations: false
AlignEscapedNewlines: Left
AlignOperands: true
AlignTrailingComments: true
AllowAllArgumentsOnNextLine: true
AllowAllConstructorInitializersOnNextLine: true
AllowAllParametersOfDeclarationOnNextLine: true
AllowShortBlocksOnASingleLine: false
AllowShortBlocksOnASingleLine: Never
AllowShortCaseLabelsOnASingleLine: false
AllowShortFunctionsOnASingleLine: All
AllowShortIfStatementsOnASingleLine: true
AllowShortLambdasOnASingleLine: All
AllowShortIfStatementsOnASingleLine: WithoutElse
AllowShortLoopsOnASingleLine: true
AlwaysBreakAfterDefinitionReturnType: None
AlwaysBreakAfterReturnType: None
AlwaysBreakBeforeMultilineStrings: true
AlwaysBreakTemplateDeclarations: true
AlwaysBreakTemplateDeclarations: Yes
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
AfterCaseLabel: false
AfterClass: false
AfterControlStatement: false
AfterEnum: false
@@ -29,6 +34,7 @@ BraceWrapping:
AfterObjCDeclaration: false
AfterStruct: false
AfterUnion: false
AfterExternBlock: false
BeforeCatch: false
BeforeElse: false
IndentBraces: false
@@ -38,6 +44,7 @@ BraceWrapping:
BreakBeforeBinaryOperators: None
BreakBeforeBraces: Attach
BreakBeforeInheritanceComma: false
BreakInheritanceList: BeforeColon
BreakBeforeTernaryOperators: true
BreakConstructorInitializersBeforeComma: false
BreakConstructorInitializers: BeforeColon
@@ -50,6 +57,7 @@ ConstructorInitializerAllOnOneLineOrOnePerLine: true
ConstructorInitializerIndentWidth: 4
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DeriveLineEnding: false
DerivePointerAlignment: false
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
@@ -58,15 +66,25 @@ ForEachMacros:
- foreach
- Q_FOREACH
- BOOST_FOREACH
IncludeBlocks: Regroup
IncludeCategories:
- Regex: '^<ext/.*\.h>'
Priority: 2
SortPriority: 0
- Regex: '^<.*\.h>'
Priority: 1
SortPriority: 0
- Regex: '^<.*'
Priority: 2
SortPriority: 0
- Regex: '.*'
Priority: 3
SortPriority: 0
IncludeIsMainRegex: '([-_](test|unittest))?$'
IncludeIsMainSourceRegex: ''
IndentCaseLabels: true
IndentGotoLabels: true
IndentPPDirectives: None
IndentWidth: 2
IndentWrappedFunctionNames: false
JavaScriptQuotes: Leave
@@ -76,32 +94,74 @@ MacroBlockBegin: ''
MacroBlockEnd: ''
MaxEmptyLinesToKeep: 1
NamespaceIndentation: None
ObjCBinPackProtocolList: Never
ObjCBlockIndentWidth: 2
ObjCSpaceAfterProperty: false
ObjCSpaceBeforeProtocolList: false
ObjCSpaceBeforeProtocolList: true
PenaltyBreakAssignment: 2
PenaltyBreakBeforeFirstCallParameter: 1
PenaltyBreakComment: 300
PenaltyBreakFirstLessLess: 120
PenaltyBreakString: 1000
PenaltyBreakTemplateDeclaration: 10
PenaltyExcessCharacter: 1000000
PenaltyReturnTypeOnItsOwnLine: 200
PointerAlignment: Left
RawStringFormats:
- Language: Cpp
Delimiters:
- cc
- CC
- cpp
- Cpp
- CPP
- 'c++'
- 'C++'
CanonicalDelimiter: ''
BasedOnStyle: google
- Language: TextProto
Delimiters:
- pb
- PB
- proto
- PROTO
EnclosingFunctions:
- EqualsProto
- EquivToProto
- PARSE_PARTIAL_TEXT_PROTO
- PARSE_TEST_PROTO
- PARSE_TEXT_PROTO
- ParseTextOrDie
- ParseTextProtoOrDie
CanonicalDelimiter: ''
BasedOnStyle: google
ReflowComments: true
SortIncludes: false
SortUsingDeclarations: true
SpaceAfterCStyleCast: false
SpaceAfterLogicalNot: false
SpaceAfterTemplateKeyword: true
SpaceBeforeAssignmentOperators: true
SpaceBeforeCpp11BracedList: false
SpaceBeforeCtorInitializerColon: true
SpaceBeforeInheritanceColon: true
SpaceBeforeParens: ControlStatements
SpaceBeforeRangeBasedForLoopColon: true
SpaceInEmptyBlock: false
SpaceInEmptyParentheses: false
SpacesBeforeTrailingComments: 2
SpacesInAngles: false
SpacesInConditionalStatement: false
SpacesInContainerLiterals: true
SpacesInCStyleCastParentheses: false
SpacesInParentheses: false
SpacesInSquareBrackets: false
SpaceBeforeSquareBrackets: false
Standard: Auto
StatementMacros:
- Q_UNUSED
- QT_REQUIRE_VERSION
TabWidth: 8
UseCRLF: false
UseTab: Never
...

62
azure-templates/clang-format.sh Executable file
View File

@@ -0,0 +1,62 @@
#!/bin/bash
################################################################################
# Part of the LLVM Project, under the Apache License v2.0 with LLVM Exceptions.
# See https://llvm.org/LICENSE.txt for license information.
# SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
################################################################################
#
# This script will install the llvm toolchain on the different
# Debian and Ubuntu versions
set -eux
# read optional command line argument
LLVM_VERSION=10
if [ "$#" -eq 1 ]; then
LLVM_VERSION=$1
fi
DISTRO=$(lsb_release -is)
VERSION=$(lsb_release -sr)
DIST_VERSION="${DISTRO}_${VERSION}"
if [[ $EUID -ne 0 ]]; then
echo "This script must be run as root!"
exit 1
fi
declare -A LLVM_VERSION_PATTERNS
LLVM_VERSION_PATTERNS[9]="-9"
LLVM_VERSION_PATTERNS[10]="-10"
LLVM_VERSION_PATTERNS[11]=""
if [ ! ${LLVM_VERSION_PATTERNS[$LLVM_VERSION]+_} ]; then
echo "This script does not support LLVM version $LLVM_VERSION"
exit 3
fi
LLVM_VERSION_STRING=${LLVM_VERSION_PATTERNS[$LLVM_VERSION]}
# find the right repository name for the distro and version
case "$DIST_VERSION" in
Debian_9* ) REPO_NAME="deb http://apt.llvm.org/stretch/ llvm-toolchain-stretch$LLVM_VERSION_STRING main" ;;
Debian_10* ) REPO_NAME="deb http://apt.llvm.org/buster/ llvm-toolchain-buster$LLVM_VERSION_STRING main" ;;
Debian_unstable ) REPO_NAME="deb http://apt.llvm.org/unstable/ llvm-toolchain$LLVM_VERSION_STRING main" ;;
Debian_testing ) REPO_NAME="deb http://apt.llvm.org/unstable/ llvm-toolchain$LLVM_VERSION_STRING main" ;;
Ubuntu_16.04 ) REPO_NAME="deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial$LLVM_VERSION_STRING main" ;;
Ubuntu_18.04 ) REPO_NAME="deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic$LLVM_VERSION_STRING main" ;;
Ubuntu_18.10 ) REPO_NAME="deb http://apt.llvm.org/cosmic/ llvm-toolchain-cosmic$LLVM_VERSION_STRING main" ;;
Ubuntu_19.04 ) REPO_NAME="deb http://apt.llvm.org/disco/ llvm-toolchain-disco$LLVM_VERSION_STRING main" ;;
Ubuntu_19.10 ) REPO_NAME="deb http://apt.llvm.org/eoan/ llvm-toolchain-eoan$LLVM_VERSION_STRING main" ;;
Ubuntu_20.04 ) REPO_NAME="deb http://apt.llvm.org/focal/ llvm-toolchain-focal$LLVM_VERSION_STRING main" ;;
* )
echo "Distribution '$DISTRO' in version '$VERSION' is not supported by this script (${DIST_VERSION})."
exit 2
esac
# install everything
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | apt-key add -
add-apt-repository "${REPO_NAME}"
apt-get update
apt-get install -y clang-format-$LLVM_VERSION

8
azure-templates/job-styleguide.yml
View File

@@ -3,7 +3,7 @@
parameters:
jobName: ''
pool:
vmImage: 'Ubuntu 16.04'
vmImage: 'Ubuntu 18.04'
jobs:
- job: Styleguide
@@ -18,12 +18,16 @@ jobs:
steps:
- script: |
sudo apt-get update -q
sudo apt-get install gnupg lsb-release software-properties-common -y
chmod +x azure-templates/clang-format.sh
sudo ./azure-templates/clang-format.sh 10
sudo pip3 install wpiformat
displayName: 'Install wpiformat'
- script: |
git checkout -b master
wpiformat -clang 6.0
wpiformat -clang 10
displayName: 'Run wpiformat'
- script: |

32
cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -62,21 +62,21 @@ int ConfigurableSourceImpl::CreateProperty(const wpi::Twine& name,
int maximum, int step,
int defaultValue, int value) {
std::scoped_lock lock(m_mutex);
int ndx = CreateOrUpdateProperty(name,
[=] {
return std::make_unique<PropertyImpl>(
name, kind, minimum, maximum, step,
defaultValue, value);
},
[&](PropertyImpl& prop) {
// update all but value
prop.propKind = kind;
prop.minimum = minimum;
prop.maximum = maximum;
prop.step = step;
prop.defaultValue = defaultValue;
value = prop.value;
});
int ndx = CreateOrUpdateProperty(
name,
[=] {
return std::make_unique<PropertyImpl>(name, kind, minimum, maximum,
step, defaultValue, value);
},
[&](PropertyImpl& prop) {
// update all but value
prop.propKind = kind;
prop.minimum = minimum;
prop.maximum = maximum;
prop.step = step;
prop.defaultValue = defaultValue;
value = prop.value;
});
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name, ndx,
kind, value, wpi::Twine{});
return ndx;

15
ntcore/manualTests/native/client.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -14,12 +14,13 @@
int main() {
auto inst = nt::GetDefaultInstance();
nt::AddLogger(inst,
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
nt::AddLogger(
inst,
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
nt::StartClient(inst, "127.0.0.1", 10000);
std::this_thread::sleep_for(std::chrono::seconds(2));

15
ntcore/manualTests/native/rpc_local.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -34,12 +34,13 @@ void callback1(const nt::RpcAnswer& answer) {
int main() {
auto inst = nt::GetDefaultInstance();
nt::AddLogger(inst,
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
nt::AddLogger(
inst,
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
nt::StartServer(inst, "rpc_local.ini", "", 10000);
auto entry = nt::GetEntry(inst, "func1");

15
ntcore/manualTests/native/server.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -14,12 +14,13 @@
int main() {
auto inst = nt::GetDefaultInstance();
nt::AddLogger(inst,
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
nt::AddLogger(
inst,
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
nt::StartServer(inst, "persistent.ini", "", 10000);
std::this_thread::sleep_for(std::chrono::seconds(1));

26
ntcore/src/main/native/cpp/NetworkConnection.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -135,18 +135,18 @@ void NetworkConnection::ReadThreadMain() {
WireDecoder decoder(is, m_proto_rev, m_logger);
set_state(kHandshake);
if (!m_handshake(*this,
[&] {
decoder.set_proto_rev(m_proto_rev);
auto msg = Message::Read(decoder, m_get_entry_type);
if (!msg && decoder.error())
DEBUG0(
"error reading in handshake: " << decoder.error());
return msg;
},
[&](wpi::ArrayRef<std::shared_ptr<Message>> msgs) {
m_outgoing.emplace(msgs);
})) {
if (!m_handshake(
*this,
[&] {
decoder.set_proto_rev(m_proto_rev);
auto msg = Message::Read(decoder, m_get_entry_type);
if (!msg && decoder.error())
DEBUG0("error reading in handshake: " << decoder.error());
return msg;
},
[&](wpi::ArrayRef<std::shared_ptr<Message>> msgs) {
m_outgoing.emplace(msgs);
})) {
set_state(kDead);
m_active = false;
goto done;

19
ntcore/src/main/native/cpp/Storage.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -1053,14 +1053,15 @@ unsigned int Storage::CallRpc(unsigned int local_id, StringRef params) {
conn_info.last_update = wpi::Now();
conn_info.protocol_version = 0x0300;
unsigned int call_uid = msg->seq_num_uid();
m_rpc_server.ProcessRpc(local_id, call_uid, name, msg->str(), conn_info,
[=](StringRef result) {
std::scoped_lock lock(m_mutex);
m_rpc_results.insert(std::make_pair(
RpcIdPair{local_id, call_uid}, result));
m_rpc_results_cond.notify_all();
},
rpc_uid);
m_rpc_server.ProcessRpc(
local_id, call_uid, name, msg->str(), conn_info,
[=](StringRef result) {
std::scoped_lock lock(m_mutex);
m_rpc_results.insert(
std::make_pair(RpcIdPair{local_id, call_uid}, result));
m_rpc_results_cond.notify_all();
},
rpc_uid);
} else {
auto dispatcher = m_dispatcher;
lock.unlock();

16
ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -233,13 +233,13 @@ NT_EntryListener NetworkTable::AddEntryListener(const Twine& key,
unsigned int flags) const {
size_t prefix_len = m_path.size() + 1;
auto entry = GetEntry(key);
return nt::AddEntryListener(entry.GetHandle(),
[=](const EntryNotification& event) {
listener(const_cast<NetworkTable*>(this),
event.name.substr(prefix_len), entry,
event.value, event.flags);
},
flags);
return nt::AddEntryListener(
entry.GetHandle(),
[=](const EntryNotification& event) {
listener(const_cast<NetworkTable*>(this), event.name.substr(prefix_len),
entry, event.value, event.flags);
},
flags);
}
void NetworkTable::RemoveEntryListener(NT_EntryListener listener) const {

70
ntcore/src/main/native/cpp/ntcore_c.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -260,27 +260,29 @@ NT_EntryListener NT_AddEntryListener(NT_Inst inst, const char* prefix,
size_t prefix_len, void* data,
NT_EntryListenerCallback callback,
unsigned int flags) {
return nt::AddEntryListener(inst, StringRef(prefix, prefix_len),
[=](const EntryNotification& event) {
NT_EntryNotification c_event;
ConvertToC(event, &c_event);
callback(data, &c_event);
DisposeEntryNotification(&c_event);
},
flags);
return nt::AddEntryListener(
inst, StringRef(prefix, prefix_len),
[=](const EntryNotification& event) {
NT_EntryNotification c_event;
ConvertToC(event, &c_event);
callback(data, &c_event);
DisposeEntryNotification(&c_event);
},
flags);
}
NT_EntryListener NT_AddEntryListenerSingle(NT_Entry entry, void* data,
NT_EntryListenerCallback callback,
unsigned int flags) {
return nt::AddEntryListener(entry,
[=](const EntryNotification& event) {
NT_EntryNotification c_event;
ConvertToC(event, &c_event);
callback(data, &c_event);
DisposeEntryNotification(&c_event);
},
flags);
return nt::AddEntryListener(
entry,
[=](const EntryNotification& event) {
NT_EntryNotification c_event;
ConvertToC(event, &c_event);
callback(data, &c_event);
DisposeEntryNotification(&c_event);
},
flags);
}
NT_EntryListenerPoller NT_CreateEntryListenerPoller(NT_Inst inst) {
@@ -335,14 +337,15 @@ NT_Bool NT_WaitForEntryListenerQueue(NT_Inst inst, double timeout) {
NT_ConnectionListener NT_AddConnectionListener(
NT_Inst inst, void* data, NT_ConnectionListenerCallback callback,
NT_Bool immediate_notify) {
return nt::AddConnectionListener(inst,
[=](const ConnectionNotification& event) {
NT_ConnectionNotification event_c;
ConvertToC(event, &event_c);
callback(data, &event_c);
DisposeConnectionNotification(&event_c);
},
immediate_notify != 0);
return nt::AddConnectionListener(
inst,
[=](const ConnectionNotification& event) {
NT_ConnectionNotification event_c;
ConvertToC(event, &event_c);
callback(data, &event_c);
DisposeConnectionNotification(&event_c);
},
immediate_notify != 0);
}
NT_ConnectionListenerPoller NT_CreateConnectionListenerPoller(NT_Inst inst) {
@@ -639,14 +642,15 @@ uint64_t NT_Now(void) { return wpi::Now(); }
NT_Logger NT_AddLogger(NT_Inst inst, void* data, NT_LogFunc func,
unsigned int min_level, unsigned int max_level) {
return nt::AddLogger(inst,
[=](const LogMessage& msg) {
NT_LogMessage msg_c;
ConvertToC(msg, &msg_c);
func(data, &msg_c);
NT_DisposeLogMessage(&msg_c);
},
min_level, max_level);
return nt::AddLogger(
inst,
[=](const LogMessage& msg) {
NT_LogMessage msg_c;
ConvertToC(msg, &msg_c);
func(data, &msg_c);
NT_DisposeLogMessage(&msg_c);
},
min_level, max_level);
}
NT_LoggerPoller NT_CreateLoggerPoller(NT_Inst inst) {

15
ntcore/src/test/native/cpp/main.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -11,12 +11,13 @@
#include "ntcore.h"
int main(int argc, char** argv) {
nt::AddLogger(nt::GetDefaultInstance(),
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
nt::AddLogger(
nt::GetDefaultInstance(),
[](const nt::LogMessage& msg) {
std::fputs(msg.message.c_str(), stderr);
std::fputc('\n', stderr);
},
0, UINT_MAX);
::testing::InitGoogleMock(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;

3
simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
View File

@@ -580,7 +580,8 @@ void HALSIMGUI_AddExecute(void* param, void (*execute)(void*)) {
void HALSIMGUI_AddWindow(const char* name, void* param, void (*display)(void*),
int32_t flags) {
if (display) {
HALSimGui::AddWindow(name, [=] { display(param); }, flags);
HALSimGui::AddWindow(
name, [=] { display(param); }, flags);
}
}

22
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
View File

@@ -51,14 +51,16 @@ void CommandBase::SetSubsystem(const wpi::Twine& subsystem) {
void CommandBase::InitSendable(frc::SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
builder.AddStringProperty(".name", [this] { return GetName(); }, nullptr);
builder.AddBooleanProperty("running", [this] { return IsScheduled(); },
[this](bool value) {
bool isScheduled = IsScheduled();
if (value && !isScheduled) {
Schedule();
} else if (!value && isScheduled) {
Cancel();
}
});
builder.AddStringProperty(
".name", [this] { return GetName(); }, nullptr);
builder.AddBooleanProperty(
"running", [this] { return IsScheduled(); },
[this](bool value) {
bool isScheduled = IsScheduled();
if (value && !isScheduled) {
Schedule();
} else if (!value && isScheduled) {
Cancel();
}
});
}

10
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
View File

@@ -37,15 +37,17 @@ PIDCommand::PIDCommand(PIDController controller,
std::function<double()> measurementSource,
double setpoint, std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements)
: PIDCommand(controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}
: PIDCommand(
controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}
PIDCommand::PIDCommand(PIDController controller,
std::function<double()> measurementSource,
double setpoint, std::function<void(double)> useOutput,
wpi::ArrayRef<Subsystem*> requirements)
: PIDCommand(controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}
: PIDCommand(
controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}
void PIDCommand::Initialize() { m_controller.Reset(); }

44
wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -22,26 +22,28 @@ SubsystemBase::SubsystemBase() {
void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
builder.SetSmartDashboardType("Subsystem");
builder.AddBooleanProperty(".hasDefault",
[this] { return GetDefaultCommand() != nullptr; },
nullptr);
builder.AddStringProperty(".default",
[this]() -> std::string {
auto command = GetDefaultCommand();
if (command == nullptr) return "none";
return command->GetName();
},
nullptr);
builder.AddBooleanProperty(".hasCommand",
[this] { return GetCurrentCommand() != nullptr; },
nullptr);
builder.AddStringProperty(".command",
[this]() -> std::string {
auto command = GetCurrentCommand();
if (command == nullptr) return "none";
return command->GetName();
},
nullptr);
builder.AddBooleanProperty(
".hasDefault", [this] { return GetDefaultCommand() != nullptr; },
nullptr);
builder.AddStringProperty(
".default",
[this]() -> std::string {
auto command = GetDefaultCommand();
if (command == nullptr) return "none";
return command->GetName();
},
nullptr);
builder.AddBooleanProperty(
".hasCommand", [this] { return GetCurrentCommand() != nullptr; },
nullptr);
builder.AddStringProperty(
".command",
[this]() -> std::string {
auto command = GetCurrentCommand();
if (command == nullptr) return "none";
return command->GetName();
},
nullptr);
}
std::string SubsystemBase::GetName() const {

42
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
View File

@@ -96,11 +96,12 @@ class ProfiledPIDCommand
std::function<Distance_t()> goalSource,
std::function<void(double, State)> useOutput,
std::initializer_list<Subsystem*> requirements)
: ProfiledPIDCommand(controller, measurementSource,
[&goalSource]() {
return State{goalSource(), Velocity_t{0}};
},
useOutput, requirements) {}
: ProfiledPIDCommand(
controller, measurementSource,
[&goalSource]() {
return State{goalSource(), Velocity_t{0}};
},
useOutput, requirements) {}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -117,11 +118,12 @@ class ProfiledPIDCommand
std::function<Distance_t()> goalSource,
std::function<void(double, State)> useOutput,
wpi::ArrayRef<Subsystem*> requirements = {})
: ProfiledPIDCommand(controller, measurementSource,
[&goalSource]() {
return State{goalSource(), Velocity_t{0}};
},
useOutput, requirements) {}
: ProfiledPIDCommand(
controller, measurementSource,
[&goalSource]() {
return State{goalSource(), Velocity_t{0}};
},
useOutput, requirements) {}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -137,8 +139,9 @@ class ProfiledPIDCommand
std::function<Distance_t()> measurementSource, State goal,
std::function<void(double, State)> useOutput,
std::initializer_list<Subsystem*> requirements)
: ProfiledPIDCommand(controller, measurementSource,
[goal] { return goal; }, useOutput, requirements) {}
: ProfiledPIDCommand(
controller, measurementSource, [goal] { return goal; }, useOutput,
requirements) {}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -154,8 +157,9 @@ class ProfiledPIDCommand
std::function<Distance_t()> measurementSource, State goal,
std::function<void(double, State)> useOutput,
wpi::ArrayRef<Subsystem*> requirements = {})
: ProfiledPIDCommand(controller, measurementSource,
[goal] { return goal; }, useOutput, requirements) {}
: ProfiledPIDCommand(
controller, measurementSource, [goal] { return goal; }, useOutput,
requirements) {}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -172,8 +176,9 @@ class ProfiledPIDCommand
Distance_t goal,
std::function<void(double, State)> useOutput,
std::initializer_list<Subsystem*> requirements)
: ProfiledPIDCommand(controller, measurementSource,
[goal] { return goal; }, useOutput, requirements) {}
: ProfiledPIDCommand(
controller, measurementSource, [goal] { return goal; }, useOutput,
requirements) {}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -190,8 +195,9 @@ class ProfiledPIDCommand
Distance_t goal,
std::function<void(double, State)> useOutput,
wpi::ArrayRef<Subsystem*> requirements = {})
: ProfiledPIDCommand(controller, measurementSource,
[goal] { return goal; }, useOutput, requirements) {}
: ProfiledPIDCommand(
controller, measurementSource, [goal] { return goal; }, useOutput,
requirements) {}
ProfiledPIDCommand(ProfiledPIDCommand&& other) = default;

20
wpilibNewCommands/src/test/native/cpp/frc2/command/ButtonTest.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -129,9 +129,9 @@ TEST_F(ButtonTest, AndTest) {
bool pressed2 = false;
WaitUntilCommand command([&finished] { return finished; });
(Trigger([&pressed1] { return pressed1; }) &&
Trigger([&pressed2] { return pressed2; }))
.WhenActive(&command);
(Trigger([&pressed1] { return pressed1; }) && Trigger([&pressed2] {
return pressed2;
})).WhenActive(&command);
pressed1 = true;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
@@ -148,18 +148,18 @@ TEST_F(ButtonTest, OrTest) {
WaitUntilCommand command1([&finished] { return finished; });
WaitUntilCommand command2([&finished] { return finished; });
(Trigger([&pressed1] { return pressed1; }) ||
Trigger([&pressed2] { return pressed2; }))
.WhenActive(&command1);
(Trigger([&pressed1] { return pressed1; }) || Trigger([&pressed2] {
return pressed2;
})).WhenActive(&command1);
pressed1 = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command1));
pressed1 = false;
(Trigger([&pressed1] { return pressed1; }) ||
Trigger([&pressed2] { return pressed2; }))
.WhenActive(&command2);
(Trigger([&pressed1] { return pressed1; }) || Trigger([&pressed2] {
return pressed2;
})).WhenActive(&command2);
pressed2 = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command2));

7
wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2020 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. */
@@ -66,6 +66,7 @@ void Trigger::ToggleWhenActive(Command* command) {
void Trigger::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Button");
builder.SetSafeState([=]() { m_sendablePressed = false; });
builder.AddBooleanProperty("pressed", [=]() { return Grab(); },
[=](bool value) { m_sendablePressed = value; });
builder.AddBooleanProperty(
"pressed", [=]() { return Grab(); },
[=](bool value) { m_sendablePressed = value; });
}

23
wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2020 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. */
@@ -251,14 +251,15 @@ void Command::InitSendable(SendableBuilder& builder) {
builder.AddStringProperty(
".name", [=]() { return SendableRegistry::GetInstance().GetName(this); },
nullptr);
builder.AddBooleanProperty("running", [=]() { return IsRunning(); },
[=](bool value) {
if (value) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
});
builder.AddBooleanProperty(".isParented", [=]() { return IsParented(); },
nullptr);
builder.AddBooleanProperty(
"running", [=]() { return IsRunning(); },
[=](bool value) {
if (value) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
});
builder.AddBooleanProperty(
".isParented", [=]() { return IsParented(); }, nullptr);
}

10
wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2020 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. */
@@ -122,11 +122,11 @@ void Subsystem::InitSendable(SendableBuilder& builder) {
builder.AddBooleanProperty(
".hasDefault", [=]() { return m_defaultCommand != nullptr; }, nullptr);
builder.AddStringProperty(".default",
[=]() { return GetDefaultCommandName(); }, nullptr);
builder.AddStringProperty(
".default", [=]() { return GetDefaultCommandName(); }, nullptr);
builder.AddBooleanProperty(
".hasCommand", [=]() { return m_currentCommand != nullptr; }, nullptr);
builder.AddStringProperty(".command",
[=]() { return GetCurrentCommandName(); }, nullptr);
builder.AddStringProperty(
".command", [=]() { return GetCurrentCommandName(); }, nullptr);
}

6
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -52,8 +52,8 @@ double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Accelerometer");
builder.AddDoubleProperty("Value", [=]() { return GetAcceleration(); },
nullptr);
builder.AddDoubleProperty(
"Value", [=]() { return GetAcceleration(); }, nullptr);
}
void AnalogAccelerometer::InitAccelerometer() {

12
wpilibc/src/main/native/cpp/AnalogEncoder.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -96,9 +96,9 @@ void AnalogEncoder::Reset() {
void AnalogEncoder::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("AbsoluteEncoder");
builder.AddDoubleProperty("Distance", [this] { return this->GetDistance(); },
nullptr);
builder.AddDoubleProperty("Distance Per Rotation",
[this] { return this->GetDistancePerRotation(); },
nullptr);
builder.AddDoubleProperty(
"Distance", [this] { return this->GetDistance(); }, nullptr);
builder.AddDoubleProperty(
"Distance Per Rotation",
[this] { return this->GetDistancePerRotation(); }, nullptr);
}

6
wpilibc/src/main/native/cpp/AnalogInput.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -230,6 +230,6 @@ void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
void AnalogInput::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Input");
builder.AddDoubleProperty("Value", [=]() { return GetAverageVoltage(); },
nullptr);
builder.AddDoubleProperty(
"Value", [=]() { return GetAverageVoltage(); }, nullptr);
}

7
wpilibc/src/main/native/cpp/AnalogOutput.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -69,6 +69,7 @@ int AnalogOutput::GetChannel() { return m_channel; }
void AnalogOutput::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Output");
builder.AddDoubleProperty("Value", [=]() { return GetVoltage(); },
[=](double value) { SetVoltage(value); });
builder.AddDoubleProperty(
"Value", [=]() { return GetVoltage(); },
[=](double value) { SetVoltage(value); });
}

11
wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -43,7 +43,10 @@ double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); }
void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("3AxisAccelerometer");
builder.AddDoubleProperty("X", [=]() { return GetX(); }, nullptr);
builder.AddDoubleProperty("Y", [=]() { return GetY(); }, nullptr);
builder.AddDoubleProperty("Z", [=]() { return GetZ(); }, nullptr);
builder.AddDoubleProperty(
"X", [=]() { return GetX(); }, nullptr);
builder.AddDoubleProperty(
"Y", [=]() { return GetY(); }, nullptr);
builder.AddDoubleProperty(
"Z", [=]() { return GetZ(); }, nullptr);
}

17
wpilibc/src/main/native/cpp/Compressor.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -206,13 +206,14 @@ void Compressor::ClearAllPCMStickyFaults() {
void Compressor::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Compressor");
builder.AddBooleanProperty("Enabled", [=]() { return Enabled(); },
[=](bool value) {
if (value)
Start();
else
Stop();
});
builder.AddBooleanProperty(
"Enabled", [=]() { return Enabled(); },
[=](bool value) {
if (value)
Start();
else
Stop();
});
builder.AddBooleanProperty(
"Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
}

5
wpilibc/src/main/native/cpp/Counter.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -332,5 +332,6 @@ bool Counter::GetDirection() const {
void Counter::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Counter");
builder.AddDoubleProperty("Value", [=]() { return Get(); }, nullptr);
builder.AddDoubleProperty(
"Value", [=]() { return Get(); }, nullptr);
}

5
wpilibc/src/main/native/cpp/DigitalInput.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -73,5 +73,6 @@ int DigitalInput::GetChannel() const { return m_channel; }
void DigitalInput::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Digital Input");
builder.AddBooleanProperty("Value", [=]() { return Get(); }, nullptr);
builder.AddBooleanProperty(
"Value", [=]() { return Get(); }, nullptr);
}

6
wpilibc/src/main/native/cpp/DigitalOutput.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -154,6 +154,6 @@ void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
void DigitalOutput::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Digital Output");
builder.AddBooleanProperty("Value", [=]() { return Get(); },
[=](bool value) { Set(value); });
builder.AddBooleanProperty(
"Value", [=]() { return Get(); }, [=](bool value) { Set(value); });
}

10
wpilibc/src/main/native/cpp/DutyCycle.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -93,8 +93,8 @@ int DutyCycle::GetSourceChannel() const { return m_source->GetChannel(); }
void DutyCycle::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Duty Cycle");
builder.AddDoubleProperty("Frequency",
[this] { return this->GetFrequency(); }, nullptr);
builder.AddDoubleProperty("Output", [this] { return this->GetOutput(); },
nullptr);
builder.AddDoubleProperty(
"Frequency", [this] { return this->GetFrequency(); }, nullptr);
builder.AddDoubleProperty(
"Output", [this] { return this->GetOutput(); }, nullptr);
}

14
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
View File

@@ -130,11 +130,11 @@ void DutyCycleEncoder::SetConnectedFrequencyThreshold(int frequency) {
void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("AbsoluteEncoder");
builder.AddDoubleProperty("Distance", [this] { return this->GetDistance(); },
nullptr);
builder.AddDoubleProperty("Distance Per Rotation",
[this] { return this->GetDistancePerRotation(); },
nullptr);
builder.AddDoubleProperty("Is Connected",
[this] { return this->IsConnected(); }, nullptr);
builder.AddDoubleProperty(
"Distance", [this] { return this->GetDistance(); }, nullptr);
builder.AddDoubleProperty(
"Distance Per Rotation",
[this] { return this->GetDistancePerRotation(); }, nullptr);
builder.AddDoubleProperty(
"Is Connected", [this] { return this->IsConnected(); }, nullptr);
}

13
wpilibc/src/main/native/cpp/Encoder.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -236,11 +236,12 @@ void Encoder::InitSendable(SendableBuilder& builder) {
else
builder.SetSmartDashboardType("Encoder");
builder.AddDoubleProperty("Speed", [=]() { return GetRate(); }, nullptr);
builder.AddDoubleProperty("Distance", [=]() { return GetDistance(); },
nullptr);
builder.AddDoubleProperty("Distance per Tick",
[=]() { return GetDistancePerPulse(); }, nullptr);
builder.AddDoubleProperty(
"Speed", [=]() { return GetRate(); }, nullptr);
builder.AddDoubleProperty(
"Distance", [=]() { return GetDistance(); }, nullptr);
builder.AddDoubleProperty(
"Distance per Tick", [=]() { return GetDistancePerPulse(); }, nullptr);
}
void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {

5
wpilibc/src/main/native/cpp/GyroBase.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -25,5 +25,6 @@ double GyroBase::PIDGet() {
void GyroBase::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Gyro");
builder.AddDoubleProperty("Value", [=]() { return GetAngle(); }, nullptr);
builder.AddDoubleProperty(
"Value", [=]() { return GetAngle(); }, nullptr);
}

6
wpilibc/src/main/native/cpp/NidecBrushless.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -70,6 +70,6 @@ void NidecBrushless::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Nidec Brushless");
builder.SetActuator(true);
builder.SetSafeState([=]() { StopMotor(); });
builder.AddDoubleProperty("Value", [=]() { return Get(); },
[=](double value) { Set(value); });
builder.AddDoubleProperty(
"Value", [=]() { return Get(); }, [=](double value) { Set(value); });
}

23
wpilibc/src/main/native/cpp/PIDBase.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -229,16 +229,17 @@ void PIDBase::PIDWrite(double output) { SetSetpoint(output); }
void PIDBase::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("PIDController");
builder.SetSafeState([=]() { Reset(); });
builder.AddDoubleProperty("p", [=]() { return GetP(); },
[=](double value) { SetP(value); });
builder.AddDoubleProperty("i", [=]() { return GetI(); },
[=](double value) { SetI(value); });
builder.AddDoubleProperty("d", [=]() { return GetD(); },
[=](double value) { SetD(value); });
builder.AddDoubleProperty("f", [=]() { return GetF(); },
[=](double value) { SetF(value); });
builder.AddDoubleProperty("setpoint", [=]() { return GetSetpoint(); },
[=](double value) { SetSetpoint(value); });
builder.AddDoubleProperty(
"p", [=]() { return GetP(); }, [=](double value) { SetP(value); });
builder.AddDoubleProperty(
"i", [=]() { return GetI(); }, [=](double value) { SetI(value); });
builder.AddDoubleProperty(
"d", [=]() { return GetD(); }, [=](double value) { SetD(value); });
builder.AddDoubleProperty(
"f", [=]() { return GetF(); }, [=](double value) { SetF(value); });
builder.AddDoubleProperty(
"setpoint", [=]() { return GetSetpoint(); },
[=](double value) { SetSetpoint(value); });
}
void PIDBase::Calculate() {

7
wpilibc/src/main/native/cpp/PIDController.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -80,6 +80,7 @@ void PIDController::Reset() {
void PIDController::InitSendable(SendableBuilder& builder) {
PIDBase::InitSendable(builder);
builder.AddBooleanProperty("enabled", [=]() { return IsEnabled(); },
[=](bool value) { SetEnabled(value); });
builder.AddBooleanProperty(
"enabled", [=]() { return IsEnabled(); },
[=](bool value) { SetEnabled(value); });
}

7
wpilibc/src/main/native/cpp/PWM.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -199,6 +199,7 @@ void PWM::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("PWM");
builder.SetActuator(true);
builder.SetSafeState([=]() { SetDisabled(); });
builder.AddDoubleProperty("Value", [=]() { return GetRaw(); },
[=](double value) { SetRaw(value); });
builder.AddDoubleProperty(
"Value", [=]() { return GetRaw(); },
[=](double value) { SetRaw(value); });
}

7
wpilibc/src/main/native/cpp/PWMSpeedController.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -35,6 +35,7 @@ void PWMSpeedController::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=]() { SetDisabled(); });
builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
[=](double value) { SetSpeed(value); });
builder.AddDoubleProperty(
"Value", [=]() { return GetSpeed(); },
[=](double value) { SetSpeed(value); });
}

13
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -139,10 +139,11 @@ void PowerDistributionPanel::ClearStickyFaults() {
void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("PowerDistributionPanel");
for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {
builder.AddDoubleProperty("Chan" + wpi::Twine(i),
[=]() { return GetCurrent(i); }, nullptr);
builder.AddDoubleProperty(
"Chan" + wpi::Twine(i), [=]() { return GetCurrent(i); }, nullptr);
}
builder.AddDoubleProperty("Voltage", [=]() { return GetVoltage(); }, nullptr);
builder.AddDoubleProperty("TotalCurrent", [=]() { return GetTotalCurrent(); },
nullptr);
builder.AddDoubleProperty(
"Voltage", [=]() { return GetVoltage(); }, nullptr);
builder.AddDoubleProperty(
"TotalCurrent", [=]() { return GetTotalCurrent(); }, nullptr);
}

6
wpilibc/src/main/native/cpp/Servo.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -57,8 +57,8 @@ double Servo::GetMinAngle() const { return kMinServoAngle; }
void Servo::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Servo");
builder.AddDoubleProperty("Value", [=]() { return Get(); },
[=](double value) { Set(value); });
builder.AddDoubleProperty(
"Value", [=]() { return Get(); }, [=](double value) { Set(value); });
}
double Servo::GetServoAngleRange() const {

6
wpilibc/src/main/native/cpp/Solenoid.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -93,6 +93,6 @@ void Solenoid::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=]() { Set(false); });
builder.AddBooleanProperty("Value", [=]() { return Get(); },
[=](bool value) { Set(value); });
builder.AddBooleanProperty(
"Value", [=]() { return Get(); }, [=](bool value) { Set(value); });
}

4
wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
View File

@@ -66,6 +66,6 @@ void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=]() { StopMotor(); });
builder.AddDoubleProperty("Value", [=]() { return Get(); },
[=](double value) { Set(value); });
builder.AddDoubleProperty(
"Value", [=]() { return Get(); }, [=](double value) { Set(value); });
}

6
wpilibc/src/main/native/cpp/Ultrasonic.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -177,8 +177,8 @@ void Ultrasonic::SetPIDSourceType(PIDSourceType pidSource) {
void Ultrasonic::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Ultrasonic");
builder.AddDoubleProperty("Value", [=]() { return GetRangeInches(); },
nullptr);
builder.AddDoubleProperty(
"Value", [=]() { return GetRangeInches(); }, nullptr);
}
void Ultrasonic::Initialize() {

17
wpilibc/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -119,12 +119,13 @@ void PIDController::Reset() {
void PIDController::InitSendable(frc::SendableBuilder& builder) {
builder.SetSmartDashboardType("PIDController");
builder.AddDoubleProperty("p", [this] { return GetP(); },
[this](double value) { SetP(value); });
builder.AddDoubleProperty("i", [this] { return GetI(); },
[this](double value) { SetI(value); });
builder.AddDoubleProperty("d", [this] { return GetD(); },
[this](double value) { SetD(value); });
builder.AddDoubleProperty("setpoint", [this] { return GetSetpoint(); },
[this](double value) { SetSetpoint(value); });
builder.AddDoubleProperty(
"p", [this] { return GetP(); }, [this](double value) { SetP(value); });
builder.AddDoubleProperty(
"i", [this] { return GetI(); }, [this](double value) { SetI(value); });
builder.AddDoubleProperty(
"d", [this] { return GetD(); }, [this](double value) { SetD(value); });
builder.AddDoubleProperty(
"setpoint", [this] { return GetSetpoint(); },
[this](double value) { SetSetpoint(value); });
}

8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -216,9 +216,9 @@ void DifferentialDrive::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("DifferentialDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
[=]() { return m_leftMotor->Get(); },
[=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty(
"Left Motor Speed", [=]() { return m_leftMotor->Get(); },
[=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty(
"Right Motor Speed",
[=]() { return m_rightMotor->Get() * m_rightSideInvertMultiplier; },

20
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -107,13 +107,13 @@ void KilloughDrive::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("KilloughDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
[=]() { return m_leftMotor->Get(); },
[=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty("Right Motor Speed",
[=]() { return m_rightMotor->Get(); },
[=](double value) { m_rightMotor->Set(value); });
builder.AddDoubleProperty("Back Motor Speed",
[=]() { return m_backMotor->Get(); },
[=](double value) { m_backMotor->Set(value); });
builder.AddDoubleProperty(
"Left Motor Speed", [=]() { return m_leftMotor->Get(); },
[=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty(
"Right Motor Speed", [=]() { return m_rightMotor->Get(); },
[=](double value) { m_rightMotor->Set(value); });
builder.AddDoubleProperty(
"Back Motor Speed", [=]() { return m_backMotor->Get(); },
[=](double value) { m_backMotor->Set(value); });
}

8
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -120,9 +120,9 @@ void MecanumDrive::InitSendable(SendableBuilder& builder) {
[=](double value) {
m_frontRightMotor->Set(value * m_rightSideInvertMultiplier);
});
builder.AddDoubleProperty("Rear Left Motor Speed",
[=]() { return m_rearLeftMotor->Get(); },
[=](double value) { m_rearLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Rear Left Motor Speed", [=]() { return m_rearLeftMotor->Get(); },
[=](double value) { m_rearLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Rear Right Motor Speed",
[=]() { return m_rearRightMotor->Get() * m_rightSideInvertMultiplier; },

6
wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -30,7 +30,7 @@ void AddToSendableRegistry(frc::Sendable* sendable, std::string name) {
} // namespace detail
void SendableCameraWrapper::InitSendable(SendableBuilder& builder) {
builder.AddStringProperty(".ShuffleboardURI", [this] { return m_uri; },
nullptr);
builder.AddStringProperty(
".ShuffleboardURI", [this] { return m_uri; }, nullptr);
}
} // namespace frc

12
wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
View File

@@ -339,12 +339,12 @@ class ProfiledPIDController
void InitSendable(frc::SendableBuilder& builder) override {
builder.SetSmartDashboardType("ProfiledPIDController");
builder.AddDoubleProperty("p", [this] { return GetP(); },
[this](double value) { SetP(value); });
builder.AddDoubleProperty("i", [this] { return GetI(); },
[this](double value) { SetI(value); });
builder.AddDoubleProperty("d", [this] { return GetD(); },
[this](double value) { SetD(value); });
builder.AddDoubleProperty(
"p", [this] { return GetP(); }, [this](double value) { SetP(value); });
builder.AddDoubleProperty(
"i", [this] { return GetI(); }, [this](double value) { SetI(value); });
builder.AddDoubleProperty(
"d", [this] { return GetD(); }, [this](double value) { SetD(value); });
builder.AddDoubleProperty(
"goal", [this] { return GetGoal().position.template to<double>(); },
[this](double value) { SetGoal(Distance_t{value}); });

2
wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
View File

@@ -13,7 +13,7 @@ namespace frc {
template <class... Wheels>
SwerveDriveKinematics(Translation2d, Wheels...)
->SwerveDriveKinematics<1 + sizeof...(Wheels)>;
-> SwerveDriveKinematics<1 + sizeof...(Wheels)>;
template <size_t NumModules>
std::array<SwerveModuleState, NumModules>

27
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2020 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. */
@@ -76,20 +76,21 @@ template <class T>
void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("String Chooser");
builder.GetEntry(kInstance).SetDouble(m_instance);
builder.AddStringArrayProperty(kOptions,
[=]() {
std::vector<std::string> keys;
for (const auto& choice : m_choices) {
keys.push_back(choice.first());
}
builder.AddStringArrayProperty(
kOptions,
[=]() {
std::vector<std::string> keys;
for (const auto& choice : m_choices) {
keys.push_back(choice.first());
}
// Unlike std::map, wpi::StringMap elements
// are not sorted
std::sort(keys.begin(), keys.end());
// Unlike std::map, wpi::StringMap elements
// are not sorted
std::sort(keys.begin(), keys.end());
return keys;
},
nullptr);
return keys;
},
nullptr);
builder.AddSmallStringProperty(
kDefault,
[=](wpi::SmallVectorImpl<char>&) -> wpi::StringRef {

21
wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -11,15 +11,16 @@
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMePIDCommand::ReplaceMePIDCommand()
: CommandHelper(frc2::PIDController(0, 0, 0),
// This should return the measurement
[] { return 0; },
// This should return the setpoint (can also be a constant)
[] { return 0; },
// This uses the output
[](double output) {
// Use the output here
}) {}
: CommandHelper(
frc2::PIDController(0, 0, 0),
// This should return the measurement
[] { return 0; },
// This should return the setpoint (can also be a constant)
[] { return 0; },
// This uses the output
[](double output) {
// Use the output here
}) {}
// Returns true when the command should end.
bool ReplaceMePIDCommand::IsFinished() { return false; }

21
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -12,15 +12,16 @@
using namespace DriveConstants;
TurnToAngle::TurnToAngle(units::degree_t target, DriveSubsystem* drive)
: CommandHelper(frc2::PIDController(kTurnP, kTurnI, kTurnD),
// Close loop on heading
[drive] { return drive->GetHeading().to<double>(); },
// Set reference to target
target.to<double>(),
// Pipe output to turn robot
[drive](double output) { drive->ArcadeDrive(0, output); },
// Require the drive
{drive}) {
: CommandHelper(
frc2::PIDController(kTurnP, kTurnI, kTurnD),
// Close loop on heading
[drive] { return drive->GetHeading().to<double>(); },
// Set reference to target
target.to<double>(),
// Pipe output to turn robot
[drive](double output) { drive->ArcadeDrive(0, output); },
// Require the drive
{drive}) {
// Set the controller to be continuous (because it is an angle controller)
m_controller.EnableContinuousInput(-180, 180);
// Set the controller tolerance - the delta tolerance ensures the robot is

5
wpiutil/src/main/native/cpp/TCPConnector_parallel.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -107,8 +107,7 @@ std::unique_ptr<NetworkStream> TCPConnector::connect_parallel(
}
++result->count;
result->cv.notify_all();
})
.detach();
}).detach();
}
// wait for a result, timeout, or all finished

25
wpiutil/src/main/native/cpp/uv/GetNameInfo.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -19,17 +19,18 @@ GetNameInfoReq::GetNameInfoReq() {
void GetNameInfo(Loop& loop, const std::shared_ptr<GetNameInfoReq>& req,
const sockaddr& addr, int flags) {
int err = uv_getnameinfo(loop.GetRaw(), req->GetRaw(),
[](uv_getnameinfo_t* req, int status,
const char* hostname, const char* service) {
auto& h = *static_cast<GetNameInfoReq*>(req->data);
if (status < 0)
h.ReportError(status);
else
h.resolved(hostname, service);
h.Release(); // this is always a one-shot
},
&addr, flags);
int err = uv_getnameinfo(
loop.GetRaw(), req->GetRaw(),
[](uv_getnameinfo_t* req, int status, const char* hostname,
const char* service) {
auto& h = *static_cast<GetNameInfoReq*>(req->data);
if (status < 0)
h.ReportError(status);
else
h.resolved(hostname, service);
h.Release(); // this is always a one-shot
},
&addr, flags);
if (err < 0)
loop.ReportError(err);
else

17
wpiutil/src/main/native/cpp/uv/Loop.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -49,13 +49,14 @@ void Loop::Close() {
}
void Loop::Walk(std::function<void(Handle&)> callback) {
uv_walk(m_loop,
[](uv_handle_t* handle, void* func) {
auto& h = *static_cast<Handle*>(handle->data);
auto& f = *static_cast<std::function<void(Handle&)>*>(func);
f(h);
},
&callback);
uv_walk(
m_loop,
[](uv_handle_t* handle, void* func) {
auto& h = *static_cast<Handle*>(handle->data);
auto& f = *static_cast<std::function<void(Handle&)>*>(func);
f(h);
},
&callback);
}
void Loop::Fork() {

15
wpiutil/src/main/native/cpp/uv/Signal.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -24,12 +24,13 @@ std::shared_ptr<Signal> Signal::Create(Loop& loop) {
}
void Signal::Start(int signum) {
Invoke(&uv_signal_start, GetRaw(),
[](uv_signal_t* handle, int signum) {
Signal& h = *static_cast<Signal*>(handle->data);
h.signal(signum);
},
signum);
Invoke(
&uv_signal_start, GetRaw(),
[](uv_signal_t* handle, int signum) {
Signal& h = *static_cast<Signal*>(handle->data);
h.signal(signum);
},
signum);
}
} // namespace uv

15
wpiutil/src/main/native/cpp/uv/Timer.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -34,12 +34,13 @@ void Timer::SingleShot(Loop& loop, Time timeout, std::function<void()> func) {
}
void Timer::Start(Time timeout, Time repeat) {
Invoke(&uv_timer_start, GetRaw(),
[](uv_timer_t* handle) {
Timer& h = *static_cast<Timer*>(handle->data);
h.timeout();
},
timeout.count(), repeat.count());
Invoke(
&uv_timer_start, GetRaw(),
[](uv_timer_t* handle) {
Timer& h = *static_cast<Timer*>(handle->data);
h.timeout();
},
timeout.count(), repeat.count());
}
} // namespace uv

29
wpiutil/src/main/native/cpp/uv/Work.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -17,19 +17,20 @@ WorkReq::WorkReq() {
}
void QueueWork(Loop& loop, const std::shared_ptr<WorkReq>& req) {
int err = uv_queue_work(loop.GetRaw(), req->GetRaw(),
[](uv_work_t* req) {
auto& h = *static_cast<WorkReq*>(req->data);
h.work();
},
[](uv_work_t* req, int status) {
auto& h = *static_cast<WorkReq*>(req->data);
if (status < 0)
h.ReportError(status);
else
h.afterWork();
h.Release(); // this is always a one-shot
});
int err = uv_queue_work(
loop.GetRaw(), req->GetRaw(),
[](uv_work_t* req) {
auto& h = *static_cast<WorkReq*>(req->data);
h.work();
},
[](uv_work_t* req, int status) {
auto& h = *static_cast<WorkReq*>(req->data);
if (status < 0)
h.ReportError(status);
else
h.afterWork();
h.Release(); // this is always a one-shot
});
if (err < 0)
loop.ReportError(err);
else

24
wpiutil/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -46,7 +46,8 @@ TEST(UvGetAddrInfo, BothNull) {
fail_cb_called++;
});
GetAddrInfo(loop, [](const addrinfo&) { FAIL(); }, Twine::createNull());
GetAddrInfo(
loop, [](const addrinfo&) { FAIL(); }, Twine::createNull());
loop->Run();
ASSERT_EQ(fail_cb_called, 1);
}
@@ -62,7 +63,8 @@ TEST(UvGetAddrInfo, FailedLookup) {
});
// Use a FQDN by ending in a period
GetAddrInfo(loop, [](const addrinfo&) { FAIL(); }, "xyzzy.xyzzy.xyzzy.");
GetAddrInfo(
loop, [](const addrinfo&) { FAIL(); }, "xyzzy.xyzzy.xyzzy.");
loop->Run();
ASSERT_EQ(fail_cb_called, 1);
}
@@ -73,7 +75,8 @@ TEST(UvGetAddrInfo, Basic) {
auto loop = Loop::Create();
loop->error.connect([](Error) { FAIL(); });
GetAddrInfo(loop, [&](const addrinfo&) { getaddrinfo_cbs++; }, "localhost");
GetAddrInfo(
loop, [&](const addrinfo&) { getaddrinfo_cbs++; }, "localhost");
loop->Run();
@@ -90,12 +93,13 @@ TEST(UvGetAddrInfo, Concurrent) {
for (int i = 0; i < CONCURRENT_COUNT; i++) {
callback_counts[i] = 0;
GetAddrInfo(loop,
[i, &callback_counts, &getaddrinfo_cbs](const addrinfo&) {
callback_counts[i]++;
getaddrinfo_cbs++;
},
"localhost");
GetAddrInfo(
loop,
[i, &callback_counts, &getaddrinfo_cbs](const addrinfo&) {
callback_counts[i]++;
getaddrinfo_cbs++;
},
"localhost");
}
loop->Run();

32
wpiutil/src/test/native/cpp/uv/UvGetNameInfoTest.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -41,13 +41,14 @@ TEST(UvGetNameInfo, BasicIp4) {
auto loop = Loop::Create();
loop->error.connect([](Error) { FAIL(); });
GetNameInfo4(loop,
[&](const char* hostname, const char* service) {
ASSERT_NE(hostname, nullptr);
ASSERT_NE(service, nullptr);
getnameinfo_cbs++;
},
"127.0.0.1", 80);
GetNameInfo4(
loop,
[&](const char* hostname, const char* service) {
ASSERT_NE(hostname, nullptr);
ASSERT_NE(service, nullptr);
getnameinfo_cbs++;
},
"127.0.0.1", 80);
loop->Run();
@@ -60,13 +61,14 @@ TEST(UvGetNameInfo, BasicIp6) {
auto loop = Loop::Create();
loop->error.connect([](Error) { FAIL(); });
GetNameInfo6(loop,
[&](const char* hostname, const char* service) {
ASSERT_NE(hostname, nullptr);
ASSERT_NE(service, nullptr);
getnameinfo_cbs++;
},
"::1", 80);
GetNameInfo6(
loop,
[&](const char* hostname, const char* service) {
ASSERT_NE(hostname, nullptr);
ASSERT_NE(service, nullptr);
getnameinfo_cbs++;
},
"::1", 80);
loop->Run();