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[commands] Revert SubsystemBase deprecation/removal (#5634)

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This commit is contained in:
Ryan Blue
2023-09-14 23:56:48 -04:00
committed by GitHub
parent bc7f23a632
commit 3b79cb6ed3
80 changed files with 370 additions and 375 deletions
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56
wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
View File

@@ -8,12 +8,6 @@
#include "frc2/command/Commands.h"
using namespace frc2;
Subsystem::Subsystem() {
wpi::SendableRegistry::AddLW(this, GetTypeName(*this));
CommandScheduler::GetInstance().RegisterSubsystem({this});
}
Subsystem::~Subsystem() {
CommandScheduler::GetInstance().UnregisterSubsystem(this);
}
@@ -39,26 +33,6 @@ Command* Subsystem::GetCurrentCommand() const {
return CommandScheduler::GetInstance().Requiring(this);
}
std::string Subsystem::GetName() const {
return wpi::SendableRegistry::GetName(this);
}
void Subsystem::SetName(std::string_view name) {
wpi::SendableRegistry::SetName(this, name);
}
std::string Subsystem::GetSubsystem() const {
return wpi::SendableRegistry::GetSubsystem(this);
}
void Subsystem::SetSubsystem(std::string_view name) {
wpi::SendableRegistry::SetSubsystem(this, name);
}
void Subsystem::AddChild(std::string name, wpi::Sendable* child) {
wpi::SendableRegistry::AddLW(child, GetSubsystem(), name);
}
void Subsystem::Register() {
return CommandScheduler::GetInstance().RegisterSubsystem(this);
}
@@ -80,33 +54,3 @@ CommandPtr Subsystem::RunEnd(std::function<void()> run,
std::function<void()> end) {
return cmd::RunEnd(std::move(run), std::move(end), {this});
}
void Subsystem::InitSendable(wpi::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);
}

55
wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
View File

@@ -12,4 +12,57 @@
using namespace frc2;
SubsystemBase::SubsystemBase() {}
SubsystemBase::SubsystemBase() {
wpi::SendableRegistry::AddLW(this, GetTypeName(*this));
CommandScheduler::GetInstance().RegisterSubsystem({this});
}
void SubsystemBase::InitSendable(wpi::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);
}
std::string SubsystemBase::GetName() const {
return wpi::SendableRegistry::GetName(this);
}
void SubsystemBase::SetName(std::string_view name) {
wpi::SendableRegistry::SetName(this, name);
}
std::string SubsystemBase::GetSubsystem() const {
return wpi::SendableRegistry::GetSubsystem(this);
}
void SubsystemBase::SetSubsystem(std::string_view name) {
wpi::SendableRegistry::SetSubsystem(this, name);
}
void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
wpi::SendableRegistry::AddLW(child, GetSubsystem(), name);
}