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Split the two command implementations into separate libraries (#2012)

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This will allow us at the user code side to determine to include old commands, new commands or both.
This commit is contained in:
Thad House
2019-11-01 21:58:54 -07:00
committed by Peter Johnson
parent 2ad15cae19
commit 509819d83f
271 changed files with 470 additions and 91 deletions
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20
wpilibOldCommands/src/main/native/cpp/buttons/Button.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/Button.h"
using namespace frc;
void Button::WhenPressed(Command* command) { WhenActive(command); }
void Button::WhileHeld(Command* command) { WhileActive(command); }
void Button::WhenReleased(Command* command) { WhenInactive(command); }
void Button::CancelWhenPressed(Command* command) { CancelWhenActive(command); }
void Button::ToggleWhenPressed(Command* command) { ToggleWhenActive(command); }

17
wpilibOldCommands/src/main/native/cpp/buttons/ButtonScheduler.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/ButtonScheduler.h"
#include "frc/commands/Scheduler.h"
using namespace frc;
ButtonScheduler::ButtonScheduler(bool last, Trigger* button, Command* orders)
: m_pressedLast(last), m_button(button), m_command(orders) {}
void ButtonScheduler::Start() { Scheduler::GetInstance()->AddButton(this); }

27
wpilibOldCommands/src/main/native/cpp/buttons/CancelButtonScheduler.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/CancelButtonScheduler.h"
#include "frc/buttons/Button.h"
#include "frc/commands/Command.h"
using namespace frc;
CancelButtonScheduler::CancelButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void CancelButtonScheduler::Execute() {
bool pressed = m_button->Grab();
if (!m_pressedLast && pressed) {
m_command->Cancel();
}
m_pressedLast = pressed;
}

29
wpilibOldCommands/src/main/native/cpp/buttons/HeldButtonScheduler.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/HeldButtonScheduler.h"
#include "frc/buttons/Button.h"
#include "frc/commands/Command.h"
using namespace frc;
HeldButtonScheduler::HeldButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void HeldButtonScheduler::Execute() {
bool pressed = m_button->Grab();
if (pressed) {
m_command->Start();
} else if (m_pressedLast && !pressed) {
m_command->Cancel();
}
m_pressedLast = pressed;
}

19
wpilibOldCommands/src/main/native/cpp/buttons/InternalButton.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/InternalButton.h"
using namespace frc;
InternalButton::InternalButton(bool inverted)
: m_pressed(inverted), m_inverted(inverted) {}
void InternalButton::SetInverted(bool inverted) { m_inverted = inverted; }
void InternalButton::SetPressed(bool pressed) { m_pressed = pressed; }
bool InternalButton::Get() { return m_pressed ^ m_inverted; }

15
wpilibOldCommands/src/main/native/cpp/buttons/JoystickButton.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/JoystickButton.h"
using namespace frc;
JoystickButton::JoystickButton(GenericHID* joystick, int buttonNumber)
: m_joystick(joystick), m_buttonNumber(buttonNumber) {}
bool JoystickButton::Get() { return m_joystick->GetRawButton(m_buttonNumber); }

26
wpilibOldCommands/src/main/native/cpp/buttons/NetworkButton.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/NetworkButton.h"
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
using namespace frc;
NetworkButton::NetworkButton(const wpi::Twine& tableName,
const wpi::Twine& field)
: NetworkButton(nt::NetworkTableInstance::GetDefault().GetTable(tableName),
field) {}
NetworkButton::NetworkButton(std::shared_ptr<nt::NetworkTable> table,
const wpi::Twine& field)
: m_entry(table->GetEntry(field)) {}
bool NetworkButton::Get() {
return m_entry.GetInstance().IsConnected() && m_entry.GetBoolean(false);
}

15
wpilibOldCommands/src/main/native/cpp/buttons/POVButton.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/POVButton.h"
using namespace frc;
POVButton::POVButton(GenericHID& joystick, int angle, int povNumber)
: m_joystick(&joystick), m_angle(angle), m_povNumber(povNumber) {}
bool POVButton::Get() { return m_joystick->GetPOV(m_povNumber) == m_angle; }

27
wpilibOldCommands/src/main/native/cpp/buttons/PressedButtonScheduler.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/PressedButtonScheduler.h"
#include "frc/buttons/Button.h"
#include "frc/commands/Command.h"
using namespace frc;
PressedButtonScheduler::PressedButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void PressedButtonScheduler::Execute() {
bool pressed = m_button->Grab();
if (!m_pressedLast && pressed) {
m_command->Start();
}
m_pressedLast = pressed;
}

27
wpilibOldCommands/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/ReleasedButtonScheduler.h"
#include "frc/buttons/Button.h"
#include "frc/commands/Command.h"
using namespace frc;
ReleasedButtonScheduler::ReleasedButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void ReleasedButtonScheduler::Execute() {
bool pressed = m_button->Grab();
if (m_pressedLast && !pressed) {
m_command->Start();
}
m_pressedLast = pressed;
}

31
wpilibOldCommands/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/ToggleButtonScheduler.h"
#include "frc/buttons/Button.h"
#include "frc/commands/Command.h"
using namespace frc;
ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void ToggleButtonScheduler::Execute() {
bool pressed = m_button->Grab();
if (!m_pressedLast && pressed) {
if (m_command->IsRunning()) {
m_command->Cancel();
} else {
m_command->Start();
}
}
m_pressedLast = pressed;
}

71
wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc/buttons/Button.h"
#include "frc/buttons/CancelButtonScheduler.h"
#include "frc/buttons/HeldButtonScheduler.h"
#include "frc/buttons/PressedButtonScheduler.h"
#include "frc/buttons/ReleasedButtonScheduler.h"
#include "frc/buttons/ToggleButtonScheduler.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
Trigger::Trigger(const Trigger& rhs) : SendableHelper(rhs) {}
Trigger& Trigger::operator=(const Trigger& rhs) {
SendableHelper::operator=(rhs);
m_sendablePressed = false;
return *this;
}
Trigger::Trigger(Trigger&& rhs)
: SendableHelper(std::move(rhs)),
m_sendablePressed(rhs.m_sendablePressed.load()) {
rhs.m_sendablePressed = false;
}
Trigger& Trigger::operator=(Trigger&& rhs) {
SendableHelper::operator=(std::move(rhs));
m_sendablePressed = rhs.m_sendablePressed.load();
rhs.m_sendablePressed = false;
return *this;
}
bool Trigger::Grab() { return Get() || m_sendablePressed; }
void Trigger::WhenActive(Command* command) {
auto pbs = new PressedButtonScheduler(Grab(), this, command);
pbs->Start();
}
void Trigger::WhileActive(Command* command) {
auto hbs = new HeldButtonScheduler(Grab(), this, command);
hbs->Start();
}
void Trigger::WhenInactive(Command* command) {
auto rbs = new ReleasedButtonScheduler(Grab(), this, command);
rbs->Start();
}
void Trigger::CancelWhenActive(Command* command) {
auto cbs = new CancelButtonScheduler(Grab(), this, command);
cbs->Start();
}
void Trigger::ToggleWhenActive(Command* command) {
auto tbs = new ToggleButtonScheduler(Grab(), this, command);
tbs->Start();
}
void Trigger::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Button");
builder.SetSafeState([=]() { m_sendablePressed = false; });
builder.AddBooleanProperty("pressed", [=]() { return Grab(); },
[=](bool value) { m_sendablePressed = value; });
}