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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-07-08 19:54:03 -07:00
parent 89c1fc156d 6bac1cbc1a
commit 7142fb1f5f
50 changed files with 156 additions and 123 deletions
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9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
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@@ -533,7 +533,12 @@ public abstract class Command implements Sendable {
});
}
/** Schedules this command. */
/**
* Schedules this command.
*
* @deprecated Use CommandScheduler.getInstance().schedule(Command...) instead
*/
@Deprecated(since = "2025", forRemoval = true)
public void schedule() {
CommandScheduler.getInstance().schedule(this);
}
@@ -610,7 +615,7 @@ public abstract class Command implements Sendable {
value -> {
if (value) {
if (!isScheduled()) {
schedule();
CommandScheduler.getInstance().schedule(this);
}
} else {
if (isScheduled()) {

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
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@@ -58,7 +58,7 @@ public class ProxyCommand extends Command {
@Override
public void initialize() {
m_command = m_supplier.get();
m_command.schedule();
CommandScheduler.getInstance().schedule(m_command);
}
@Override

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
View File

@@ -28,7 +28,7 @@ public class ScheduleCommand extends Command {
@Override
public void initialize() {
for (Command command : m_toSchedule) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
}

14
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
View File

@@ -93,7 +93,7 @@ public class Trigger implements BooleanSupplier {
addBinding(
(previous, current) -> {
if (previous != current) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
});
return this;
@@ -110,7 +110,7 @@ public class Trigger implements BooleanSupplier {
addBinding(
(previous, current) -> {
if (!previous && current) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
});
return this;
@@ -127,7 +127,7 @@ public class Trigger implements BooleanSupplier {
addBinding(
(previous, current) -> {
if (previous && !current) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
});
return this;
@@ -148,7 +148,7 @@ public class Trigger implements BooleanSupplier {
addBinding(
(previous, current) -> {
if (!previous && current) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
} else if (previous && !current) {
command.cancel();
}
@@ -171,7 +171,7 @@ public class Trigger implements BooleanSupplier {
addBinding(
(previous, current) -> {
if (previous && !current) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
} else if (!previous && current) {
command.cancel();
}
@@ -193,7 +193,7 @@ public class Trigger implements BooleanSupplier {
if (command.isScheduled()) {
command.cancel();
} else {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
}
});
@@ -214,7 +214,7 @@ public class Trigger implements BooleanSupplier {
if (command.isScheduled()) {
command.cancel();
} else {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
}
});

2
wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
View File

@@ -197,7 +197,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
[this](bool value) {
bool isScheduled = IsScheduled();
if (value && !isScheduled) {
Schedule();
CommandScheduler::GetInstance().Schedule(this);
} else if (!value && isScheduled) {
Cancel();
}

2
wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
View File

@@ -37,7 +37,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {
void ProxyCommand::Initialize() {
m_command = m_supplier();
m_command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(m_command);
}
void ProxyCommand::End(bool interrupted) {

2
wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
View File

@@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) {
void ScheduleCommand::Initialize() {
for (auto command : m_toSchedule) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}

28
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
View File

@@ -29,7 +29,7 @@ void Trigger::AddBinding(wpi::unique_function<void(bool, bool)>&& body) {
Trigger Trigger::OnChange(Command* command) {
AddBinding([command](bool previous, bool current) {
if (previous != current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
});
return *this;
@@ -38,7 +38,7 @@ Trigger Trigger::OnChange(Command* command) {
Trigger Trigger::OnChange(CommandPtr&& command) {
AddBinding([command = std::move(command)](bool previous, bool current) {
if (previous != current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
});
return *this;
@@ -47,7 +47,7 @@ Trigger Trigger::OnChange(CommandPtr&& command) {
Trigger Trigger::OnTrue(Command* command) {
AddBinding([command](bool previous, bool current) {
if (!previous && current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
});
return *this;
@@ -56,7 +56,7 @@ Trigger Trigger::OnTrue(Command* command) {
Trigger Trigger::OnTrue(CommandPtr&& command) {
AddBinding([command = std::move(command)](bool previous, bool current) {
if (!previous && current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
});
return *this;
@@ -65,7 +65,7 @@ Trigger Trigger::OnTrue(CommandPtr&& command) {
Trigger Trigger::OnFalse(Command* command) {
AddBinding([command](bool previous, bool current) {
if (previous && !current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
});
return *this;
@@ -74,7 +74,7 @@ Trigger Trigger::OnFalse(Command* command) {
Trigger Trigger::OnFalse(CommandPtr&& command) {
AddBinding([command = std::move(command)](bool previous, bool current) {
if (previous && !current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
});
return *this;
@@ -83,7 +83,7 @@ Trigger Trigger::OnFalse(CommandPtr&& command) {
Trigger Trigger::WhileTrue(Command* command) {
AddBinding([command](bool previous, bool current) {
if (!previous && current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (previous && !current) {
command->Cancel();
}
@@ -94,7 +94,7 @@ Trigger Trigger::WhileTrue(Command* command) {
Trigger Trigger::WhileTrue(CommandPtr&& command) {
AddBinding([command = std::move(command)](bool previous, bool current) {
if (!previous && current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (previous && !current) {
command.Cancel();
}
@@ -105,7 +105,7 @@ Trigger Trigger::WhileTrue(CommandPtr&& command) {
Trigger Trigger::WhileFalse(Command* command) {
AddBinding([command](bool previous, bool current) {
if (previous && !current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (!previous && current) {
command->Cancel();
}
@@ -116,7 +116,7 @@ Trigger Trigger::WhileFalse(Command* command) {
Trigger Trigger::WhileFalse(CommandPtr&& command) {
AddBinding([command = std::move(command)](bool previous, bool current) {
if (!previous && current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (previous && !current) {
command.Cancel();
}
@@ -130,7 +130,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}
});
@@ -143,7 +143,7 @@ Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
if (command.IsScheduled()) {
command.Cancel();
} else {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}
});
@@ -156,7 +156,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}
});
@@ -169,7 +169,7 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
if (command.IsScheduled()) {
command.Cancel();
} else {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}
});

3
wpilibNewCommands/src/main/native/include/frc2/command/Command.h
View File

@@ -398,7 +398,10 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
/**
* Schedules this command.
*
* @deprecated Use CommandScheduler::GetInstance().Schedule() instead
*/
[[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
void Schedule();
/**

3
wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
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@@ -277,7 +277,10 @@ CommandPtr final {
/**
* Schedules this command.
*
* @deprecated Use CommandScheduler::GetInstance().Schedule() instead
*/
[[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
void Schedule() const&;
// Prevent calls on a temporary, as the returned pointer would be invalid