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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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4
wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
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@@ -6,7 +6,7 @@
#include <frc/controller/PIDController.h>
#include "frc2/command/Subsystem.h"
#include "frc2/command/SubsystemBase.h"
namespace frc2 {
/**
@@ -17,7 +17,7 @@ namespace frc2 {
*
* @see PIDController
*/
class PIDSubsystem : public Subsystem {
class PIDSubsystem : public SubsystemBase {
public:
/**
* Creates a new PIDSubsystem.

4
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
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@@ -7,7 +7,7 @@
#include <frc/controller/ProfiledPIDController.h>
#include <units/time.h>
#include "frc2/command/Subsystem.h"
#include "frc2/command/SubsystemBase.h"
namespace frc2 {
/**
@@ -19,7 +19,7 @@ namespace frc2 {
* @see ProfiledPIDController
*/
template <class Distance>
class ProfiledPIDSubsystem : public Subsystem {
class ProfiledPIDSubsystem : public SubsystemBase {
using Distance_t = units::unit_t<Distance>;
using Velocity =
units::compound_unit<Distance, units::inverse<units::seconds>>;

58
wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
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@@ -6,11 +6,8 @@
#include <concepts>
#include <functional>
#include <string>
#include <utility>
#include <wpi/sendable/Sendable.h>
#include "frc2/command/CommandScheduler.h"
namespace frc2 {
@@ -27,19 +24,22 @@ class CommandPtr;
* subsystem should generally remain encapsulated and not be shared by other
* parts of the robot.
*
* <p>Subsystems are automatically registered with the scheduler with the
* <p>Subsystems must be registered with the scheduler with the
* CommandScheduler.RegisterSubsystem() method in order for the
* Periodic() method to be called.
* Periodic() method to be called. It is recommended that this method be called
* from the constructor of users' Subsystem implementations. The
* SubsystemBase class offers a simple base for user implementations
* that handles this.
*
* This class is provided by the NewCommands VendorDep
*
* @see Command
* @see CommandScheduler
* @see SubsystemBase
*/
class Subsystem : public wpi::Sendable, public wpi::SendableHelper<Subsystem> {
class Subsystem {
public:
~Subsystem() override;
virtual ~Subsystem();
/**
* This method is called periodically by the CommandScheduler. Useful for
* updating subsystem-specific state that you don't want to offload to a
@@ -111,43 +111,6 @@ class Subsystem : public wpi::Sendable, public wpi::SendableHelper<Subsystem> {
*/
void Register();
/**
* Gets the name of this Subsystem.
*
* @return Name
*/
std::string GetName() const;
/**
* Sets the name of this Subsystem.
*
* @param name name
*/
void SetName(std::string_view name);
/**
* Gets the subsystem name of this Subsystem.
*
* @return Subsystem name
*/
std::string GetSubsystem() const;
/**
* Sets the subsystem name of this Subsystem.
*
* @param name subsystem name
*/
void SetSubsystem(std::string_view name);
/**
* Associate a Sendable with this Subsystem.
* Also update the child's name.
*
* @param name name to give child
* @param child sendable
*/
void AddChild(std::string name, wpi::Sendable* child);
/**
* Constructs a command that runs an action once and finishes. Requires this
* subsystem.
@@ -185,10 +148,5 @@ class Subsystem : public wpi::Sendable, public wpi::SendableHelper<Subsystem> {
*/
[[nodiscard]]
CommandPtr RunEnd(std::function<void()> run, std::function<void()> end);
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
Subsystem();
};
} // namespace frc2

54
wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
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@@ -4,7 +4,11 @@
#pragma once
#include <wpi/deprecated.h>
#include <string>
#include <string_view>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc2/command/Subsystem.h"
@@ -14,13 +18,51 @@ namespace frc2 {
* provides a more intuitive method for setting the default command.
*
* This class is provided by the NewCommands VendorDep
*
* @deprecated All functionality provided by SubsystemBase has been merged into
* Subsystem. Use Subsystem instead.
*/
class [[deprecated("Use Subsystem instead")]] SubsystemBase : public Subsystem {
class SubsystemBase : public Subsystem,
public wpi::Sendable,
public wpi::SendableHelper<SubsystemBase> {
public:
void InitSendable(wpi::SendableBuilder& builder) override;
/**
* Gets the name of this Subsystem.
*
* @return Name
*/
std::string GetName() const;
/**
* Sets the name of this Subsystem.
*
* @param name name
*/
void SetName(std::string_view name);
/**
* Gets the subsystem name of this Subsystem.
*
* @return Subsystem name
*/
std::string GetSubsystem() const;
/**
* Sets the subsystem name of this Subsystem.
*
* @param name subsystem name
*/
void SetSubsystem(std::string_view name);
/**
* Associate a Sendable with this Subsystem.
* Also update the child's name.
*
* @param name name to give child
* @param child sendable
*/
void AddChild(std::string name, wpi::Sendable* child);
protected:
WPI_DEPRECATED("Use Subsystem instead")
SubsystemBase();
};
} // namespace frc2

4
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
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@@ -7,7 +7,7 @@
#include <frc/trajectory/TrapezoidProfile.h>
#include <units/time.h>
#include "frc2/command/Subsystem.h"
#include "frc2/command/SubsystemBase.h"
namespace frc2 {
/**
@@ -18,7 +18,7 @@ namespace frc2 {
* This class is provided by the NewCommands VendorDep
*/
template <class Distance>
class TrapezoidProfileSubsystem : public Subsystem {
class TrapezoidProfileSubsystem : public SubsystemBase {
using Distance_t = units::unit_t<Distance>;
using Velocity =
units::compound_unit<Distance, units::inverse<units::seconds>>;