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[commands] Remove deprecated classes and functions (#5409)

Browse Source 
Removes:
- PerpetualCommand
- Command.perpetually()
- CommandGroupBase
- Command.IsGrouped() (C++ only)
- Command.SetGrouped() (C++ only)
- Command.withInterrupt()
- ProxyScheduleCommand
- Button
- InternalButton, JoystickButton, NetworkButton and POVButton now subclass Trigger
- Old style Trigger functions:
    - Trigger.whenActive
    - Trigger.whileActiveOnce
    - Trigger.whileActiveContinuous
    - Trigger.whenInactive
    - Trigger.toggleWhenActive
    - Trigger.cancelWhenActive
- CommandScheduler.clearButtons()
- CommandScheduler.addButtons() (Java only)
- Command supplier constructor of SelectCommand
This commit is contained in:
Ryan Blue
2023-07-10 12:56:18 -04:00
committed by GitHub
parent b250a03944
commit 7a099cb02a
49 changed files with 82 additions and 2031 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
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@@ -11,7 +11,6 @@
#include "frc2/command/ParallelCommandGroup.h"
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/PerpetualCommand.h"
#include "frc2/command/RepeatCommand.h"
#include "frc2/command/SequentialCommandGroup.h"
#include "frc2/command/WaitCommand.h"
@@ -54,10 +53,6 @@ CommandPtr Command::WithInterruptBehavior(
return std::move(*this).ToPtr().WithInterruptBehavior(interruptBehavior);
}
CommandPtr Command::WithInterrupt(std::function<bool()> condition) && {
return std::move(*this).ToPtr().Until(std::move(condition));
}
CommandPtr Command::BeforeStarting(
std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) && {
@@ -82,12 +77,6 @@ CommandPtr Command::AndThen(std::function<void()> toRun,
return std::move(*this).ToPtr().AndThen(std::move(toRun), requirements);
}
PerpetualCommand Command::Perpetually() && {
WPI_IGNORE_DEPRECATED
return PerpetualCommand(std::move(*this).TransferOwnership());
WPI_UNIGNORE_DEPRECATED
}
CommandPtr Command::Repeatedly() && {
return std::move(*this).ToPtr().Repeatedly();
}
@@ -150,14 +139,6 @@ void Command::SetComposed(bool isComposed) {
m_isComposed = isComposed;
}
bool Command::IsGrouped() const {
return IsComposed();
}
void Command::SetGrouped(bool grouped) {
SetComposed(grouped);
}
namespace frc2 {
bool RequirementsDisjoint(Command* first, Command* second) {
bool disjoint = true;

7
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandGroupBase.cpp
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@@ -1,7 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc2/command/CommandGroupBase.h"
using namespace frc2;

4
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -107,10 +107,6 @@ frc::EventLoop* CommandScheduler::GetDefaultButtonLoop() const {
return &(m_impl->defaultButtonLoop);
}
void CommandScheduler::ClearButtons() {
m_impl->activeButtonLoop->Clear();
}
void CommandScheduler::Schedule(Command* command) {
if (m_impl->inRunLoop) {
m_impl->toSchedule.emplace_back(command);

26
wpilibNewCommands/src/main/native/cpp/frc2/command/PerpetualCommand.cpp
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@@ -1,26 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc2/command/PerpetualCommand.h"
using namespace frc2;
PerpetualCommand::PerpetualCommand(std::unique_ptr<Command>&& command) {
CommandScheduler::GetInstance().RequireUngrouped(command.get());
m_command = std::move(command);
m_command->SetComposed(true);
AddRequirements(m_command->GetRequirements());
}
void PerpetualCommand::Initialize() {
m_command->Initialize();
}
void PerpetualCommand::Execute() {
m_command->Execute();
}
void PerpetualCommand::End(bool interrupted) {
m_command->End(interrupted);
}

41
wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp
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@@ -1,41 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc2/command/ProxyScheduleCommand.h"
using namespace frc2;
ProxyScheduleCommand::ProxyScheduleCommand(
std::span<Command* const> toSchedule) {
SetInsert(m_toSchedule, toSchedule);
}
ProxyScheduleCommand::ProxyScheduleCommand(Command* toSchedule) {
SetInsert(m_toSchedule, {&toSchedule, 1});
}
void ProxyScheduleCommand::Initialize() {
for (auto* command : m_toSchedule) {
command->Schedule();
}
}
void ProxyScheduleCommand::End(bool interrupted) {
if (interrupted) {
for (auto* command : m_toSchedule) {
command->Cancel();
}
}
}
void ProxyScheduleCommand::Execute() {
m_finished = true;
for (auto* command : m_toSchedule) {
m_finished &= !command->IsScheduled();
}
}
bool ProxyScheduleCommand::IsFinished() {
return m_finished;
}

101
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
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@@ -1,101 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc2/command/button/Button.h"
#include <wpi/deprecated.h>
using namespace frc2;
Button::Button(std::function<bool()> isPressed) : Trigger(isPressed) {}
Button Button::WhenPressed(Command* command) {
WPI_IGNORE_DEPRECATED
WhenActive(command);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhenPressed(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
WPI_IGNORE_DEPRECATED
WhenActive(std::move(toRun), requirements);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhenPressed(std::function<void()> toRun,
std::span<Subsystem* const> requirements) {
WPI_IGNORE_DEPRECATED
WhenActive(std::move(toRun), requirements);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhileHeld(Command* command) {
WPI_IGNORE_DEPRECATED
WhileActiveContinous(command);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhileHeld(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
WPI_IGNORE_DEPRECATED
WhileActiveContinous(std::move(toRun), requirements);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhileHeld(std::function<void()> toRun,
std::span<Subsystem* const> requirements) {
WPI_IGNORE_DEPRECATED
WhileActiveContinous(std::move(toRun), requirements);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhenHeld(Command* command) {
WPI_IGNORE_DEPRECATED
WhileActiveOnce(command);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhenReleased(Command* command) {
WPI_IGNORE_DEPRECATED
WhenInactive(command);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhenReleased(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
WPI_IGNORE_DEPRECATED
WhenInactive(std::move(toRun), requirements);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::WhenReleased(std::function<void()> toRun,
std::span<Subsystem* const> requirements) {
WPI_IGNORE_DEPRECATED
WhenInactive(std::move(toRun), requirements);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::ToggleWhenPressed(Command* command) {
WPI_IGNORE_DEPRECATED
ToggleWhenActive(command);
WPI_UNIGNORE_DEPRECATED
return *this;
}
Button Button::CancelWhenPressed(Command* command) {
WPI_IGNORE_DEPRECATED
CancelWhenActive(command);
WPI_UNIGNORE_DEPRECATED
return *this;
}

6
wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
View File

@@ -4,19 +4,15 @@
#include "frc2/command/button/NetworkButton.h"
#include <wpi/deprecated.h>
using namespace frc2;
WPI_IGNORE_DEPRECATED
NetworkButton::NetworkButton(nt::BooleanTopic topic)
: NetworkButton(topic.Subscribe(false)) {}
NetworkButton::NetworkButton(nt::BooleanSubscriber sub)
: Button([sub = std::make_shared<nt::BooleanSubscriber>(std::move(sub))] {
: Trigger([sub = std::make_shared<nt::BooleanSubscriber>(std::move(sub))] {
return sub->GetTopic().GetInstance().IsConnected() && sub->Get();
}) {}
WPI_UNIGNORE_DEPRECATED
NetworkButton::NetworkButton(std::shared_ptr<nt::NetworkTable> table,
std::string_view field)

119
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
View File

@@ -5,7 +5,6 @@
#include "frc2/command/button/Trigger.h"
#include <frc/filter/Debouncer.h>
#include <wpi/deprecated.h>
#include "frc2/command/InstantCommand.h"
@@ -206,124 +205,6 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
return *this;
}
WPI_IGNORE_DEPRECATED
Trigger Trigger::WhenActive(Command* command) {
return OnTrue(command);
}
Trigger Trigger::WhenActive(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
return WhenActive(std::move(toRun),
{requirements.begin(), requirements.end()});
}
Trigger Trigger::WhenActive(std::function<void()> toRun,
std::span<Subsystem* const> requirements) {
return WhenActive(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::WhileActiveContinous(Command* command) {
m_loop->Bind([condition = m_condition, previous = m_condition(),
command = std::move(command)]() mutable {
bool current = condition();
if (current) {
command->Schedule();
} else if (previous && !current) {
command->Cancel();
}
previous = current;
});
return *this;
}
Trigger Trigger::WhileActiveContinous(
std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
return WhileActiveContinous(std::move(toRun),
{requirements.begin(), requirements.end()});
}
Trigger Trigger::WhileActiveContinous(
std::function<void()> toRun, std::span<Subsystem* const> requirements) {
return WhileActiveContinous(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::WhileActiveOnce(Command* command) {
m_loop->Bind(
[condition = m_condition, previous = m_condition(), command]() mutable {
bool current = condition();
if (!previous && current) {
command->Schedule();
} else if (previous && !current) {
command->Cancel();
}
previous = current;
});
return *this;
}
Trigger Trigger::WhenInactive(Command* command) {
m_loop->Bind(
[condition = m_condition, previous = m_condition(), command]() mutable {
bool current = condition();
if (previous && !current) {
command->Schedule();
}
previous = current;
});
return *this;
}
Trigger Trigger::WhenInactive(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) {
return WhenInactive(std::move(toRun),
{requirements.begin(), requirements.end()});
}
Trigger Trigger::WhenInactive(std::function<void()> toRun,
std::span<Subsystem* const> requirements) {
return WhenInactive(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::ToggleWhenActive(Command* command) {
m_loop->Bind([condition = m_condition, previous = m_condition(),
command = command]() mutable {
bool current = condition();
if (!previous && current) {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule();
}
}
previous = current;
});
return *this;
}
Trigger Trigger::CancelWhenActive(Command* command) {
m_loop->Bind([condition = m_condition, previous = m_condition(),
command = std::move(command)]() mutable {
bool current = condition();
if (!previous && current) {
command->Cancel();
}
previous = current;
});
return *this;
}
WPI_UNIGNORE_DEPRECATED
Trigger Trigger::Debounce(units::second_t debounceTime,
frc::Debouncer::DebounceType type) {
return Trigger(m_loop, [debouncer = frc::Debouncer(debounceTime, type),