Major formatting changes (breaks diffs). No code changes.

The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions

View File

@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. All Rights Reserved. */
/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -18,40 +19,34 @@ static const char *kIsParented = "isParented";
int Command::m_commandCounter = 0;
void Command::InitCommand(const char *name, double timeout)
{
m_commandID = m_commandCounter++;
m_timeout = timeout;
m_locked = false;
m_startTime = -1;
m_initialized = false;
m_running = false;
m_interruptible = true;
m_canceled = false;
m_runWhenDisabled = false;
m_parent = NULL;
m_name = name == NULL? std::string() : name;
m_table = NULL;
void Command::InitCommand(const char *name, double timeout) {
m_commandID = m_commandCounter++;
m_timeout = timeout;
m_locked = false;
m_startTime = -1;
m_initialized = false;
m_running = false;
m_interruptible = true;
m_canceled = false;
m_runWhenDisabled = false;
m_parent = NULL;
m_name = name == NULL ? std::string() : name;
m_table = NULL;
}
/**
* Creates a new command.
* The name of this command will be default.
*/
Command::Command()
{
InitCommand(NULL, -1.0);
}
Command::Command() { InitCommand(NULL, -1.0); }
/**
* Creates a new command with the given name and no timeout.
* @param name the name for this command
*/
Command::Command(const char *name)
{
if (name == NULL)
wpi_setWPIErrorWithContext(NullParameter, "name");
InitCommand(name, -1.0);
Command::Command(const char *name) {
if (name == NULL) wpi_setWPIErrorWithContext(NullParameter, "name");
InitCommand(name, -1.0);
}
/**
@@ -59,11 +54,10 @@ Command::Command(const char *name)
* @param timeout the time (in seconds) before this command "times out"
* @see Command#isTimedOut() isTimedOut()
*/
Command::Command(double timeout)
{
if (timeout < 0.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
InitCommand(NULL, timeout);
Command::Command(double timeout) {
if (timeout < 0.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
InitCommand(NULL, timeout);
}
/**
@@ -72,20 +66,17 @@ Command::Command(double timeout)
* @param timeout the time (in seconds) before this command "times out"
* @see Command#isTimedOut() isTimedOut()
*/
Command::Command(const char *name, double timeout)
{
if (name == NULL)
wpi_setWPIErrorWithContext(NullParameter, "name");
if (timeout < 0.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
InitCommand(name, timeout);
Command::Command(const char *name, double timeout) {
if (name == NULL) wpi_setWPIErrorWithContext(NullParameter, "name");
if (timeout < 0.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
InitCommand(name, timeout);
}
Command::~Command()
{//TODO deal with cleaning up all listeners
/*if (m_table != NULL){
m_table->RemoveChangeListener(kRunning, this);
}*/
Command::~Command() { // TODO deal with cleaning up all listeners
/*if (m_table != NULL){
m_table->RemoveChangeListener(kRunning, this);
}*/
}
/**
@@ -93,21 +84,18 @@ Command::~Command()
* The ID is a unique sequence number that is incremented for each command.
* @return the ID of this command
*/
int Command::GetID() const {
return m_commandID;
}
int Command::GetID() const { return m_commandID; }
/**
* Sets the timeout of this command.
* @param timeout the timeout (in seconds)
* @see Command#isTimedOut() isTimedOut()
*/
void Command::SetTimeout(double timeout)
{
if (timeout < 0.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
else
m_timeout = timeout;
void Command::SetTimeout(double timeout) {
if (timeout < 0.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
else
m_timeout = timeout;
}
/**
@@ -115,192 +103,171 @@ void Command::SetTimeout(double timeout)
* This function will work even if there is no specified timeout.
* @return the time since this command was initialized (in seconds).
*/
double Command::TimeSinceInitialized() const
{
if (m_startTime < 0.0)
return 0.0;
else
return Timer::GetFPGATimestamp() - m_startTime;
double Command::TimeSinceInitialized() const {
if (m_startTime < 0.0)
return 0.0;
else
return Timer::GetFPGATimestamp() - m_startTime;
}
/**
* This method specifies that the given {@link Subsystem} is used by this command.
* This method specifies that the given {@link Subsystem} is used by this
* command.
* This method is crucial to the functioning of the Command System in general.
*
* <p>Note that the recommended way to call this method is in the constructor.</p>
* <p>Note that the recommended way to call this method is in the
* constructor.</p>
*
* @param subsystem the {@link Subsystem} required
* @see Subsystem
*/
void Command::Requires(Subsystem *subsystem)
{
if (!AssertUnlocked("Can not add new requirement to command"))
return;
void Command::Requires(Subsystem *subsystem) {
if (!AssertUnlocked("Can not add new requirement to command")) return;
if (subsystem != NULL)
m_requirements.insert(subsystem);
else
wpi_setWPIErrorWithContext(NullParameter, "subsystem");
if (subsystem != NULL)
m_requirements.insert(subsystem);
else
wpi_setWPIErrorWithContext(NullParameter, "subsystem");
}
/**
* Called when the command has been removed.
* This will call {@link Command#interrupted() interrupted()} or {@link Command#end() end()}.
* This will call {@link Command#interrupted() interrupted()} or {@link
* Command#end() end()}.
*/
void Command::Removed()
{
if (m_initialized)
{
if (IsCanceled())
{
Interrupted();
_Interrupted();
}
else
{
End();
_End();
}
}
m_initialized = false;
m_canceled = false;
m_running = false;
if (m_table != NULL)
m_table->PutBoolean(kRunning, false);
void Command::Removed() {
if (m_initialized) {
if (IsCanceled()) {
Interrupted();
_Interrupted();
} else {
End();
_End();
}
}
m_initialized = false;
m_canceled = false;
m_running = false;
if (m_table != NULL) m_table->PutBoolean(kRunning, false);
}
/**
* Starts up the command. Gets the command ready to start.
* <p>Note that the command will eventually start, however it will not necessarily
* do so immediately, and may in fact be canceled before initialize is even called.</p>
* <p>Note that the command will eventually start, however it will not
* necessarily
* do so immediately, and may in fact be canceled before initialize is even
* called.</p>
*/
void Command::Start()
{
LockChanges();
if (m_parent != NULL)
wpi_setWPIErrorWithContext(CommandIllegalUse, "Can not start a command that is part of a command group");
void Command::Start() {
LockChanges();
if (m_parent != NULL)
wpi_setWPIErrorWithContext(
CommandIllegalUse,
"Can not start a command that is part of a command group");
Scheduler::GetInstance()->AddCommand(this);
Scheduler::GetInstance()->AddCommand(this);
}
/**
* The run method is used internally to actually run the commands.
* @return whether or not the command should stay within the {@link Scheduler}.
*/
bool Command::Run()
{
if (!m_runWhenDisabled && m_parent == NULL && RobotState::IsDisabled())
Cancel();
bool Command::Run() {
if (!m_runWhenDisabled && m_parent == NULL && RobotState::IsDisabled())
Cancel();
if (IsCanceled())
return false;
if (IsCanceled()) return false;
if (!m_initialized)
{
m_initialized = true;
StartTiming();
_Initialize();
Initialize();
}
_Execute();
Execute();
return !IsFinished();
if (!m_initialized) {
m_initialized = true;
StartTiming();
_Initialize();
Initialize();
}
_Execute();
Execute();
return !IsFinished();
}
void Command::_Initialize()
{
}
void Command::_Initialize() {}
void Command::_Interrupted()
{
}
void Command::_Interrupted() {}
void Command::_Execute()
{
}
void Command::_Execute() {}
void Command::_End()
{
}
void Command::_End() {}
/**
* Called to indicate that the timer should start.
* This is called right before {@link Command#initialize() initialize()} is, inside the
* This is called right before {@link Command#initialize() initialize()} is,
* inside the
* {@link Command#run() run()} method.
*/
void Command::StartTiming()
{
m_startTime = Timer::GetFPGATimestamp();
}
void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); }
/**
* Returns whether or not the {@link Command#timeSinceInitialized() timeSinceInitialized()}
* method returns a number which is greater than or equal to the timeout for the command.
* Returns whether or not the {@link Command#timeSinceInitialized()
* timeSinceInitialized()}
* method returns a number which is greater than or equal to the timeout for the
* command.
* If there is no timeout, this will always return false.
* @return whether the time has expired
*/
bool Command::IsTimedOut() const
{
return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
bool Command::IsTimedOut() const {
return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
}
/**
* Returns the requirements (as an std::set of {@link Subsystem Subsystems} pointers) of this command
* @return the requirements (as an std::set of {@link Subsystem Subsystems} pointers) of this command
* Returns the requirements (as an std::set of {@link Subsystem Subsystems}
* pointers) of this command
* @return the requirements (as an std::set of {@link Subsystem Subsystems}
* pointers) of this command
*/
Command::SubsystemSet Command::GetRequirements() const
{
return m_requirements;
Command::SubsystemSet Command::GetRequirements() const {
return m_requirements;
}
/**
* Prevents further changes from being made
*/
void Command::LockChanges()
{
m_locked = true;
}
void Command::LockChanges() { m_locked = true; }
/**
* If changes are locked, then this will generate a CommandIllegalUse error.
* @param message the message to report on error (it is appended by a default message)
* @param message the message to report on error (it is appended by a default
* message)
* @return true if assert passed, false if assert failed
*/
bool Command::AssertUnlocked(const char *message)
{
if (m_locked)
{
char buf[128];
snprintf(buf, 128, "%s after being started or being added to a command group", message);
wpi_setWPIErrorWithContext(CommandIllegalUse, buf);
return false;
}
return true;
bool Command::AssertUnlocked(const char *message) {
if (m_locked) {
char buf[128];
snprintf(buf, 128,
"%s after being started or being added to a command group",
message);
wpi_setWPIErrorWithContext(CommandIllegalUse, buf);
return false;
}
return true;
}
/**
* Sets the parent of this command. No actual change is made to the group.
* @param parent the parent
*/
void Command::SetParent(CommandGroup *parent)
{
if (parent == NULL)
{
wpi_setWPIErrorWithContext(NullParameter, "parent");
}
else if (m_parent != NULL)
{
wpi_setWPIErrorWithContext(CommandIllegalUse, "Can not give command to a command group after already being put in a command group");
}
else
{
LockChanges();
m_parent = parent;
if (m_table != NULL)
{
m_table->PutBoolean(kIsParented, true);
}
}
void Command::SetParent(CommandGroup *parent) {
if (parent == NULL) {
wpi_setWPIErrorWithContext(NullParameter, "parent");
} else if (m_parent != NULL) {
wpi_setWPIErrorWithContext(CommandIllegalUse,
"Can not give command to a command group after "
"already being put in a command group");
} else {
LockChanges();
m_parent = parent;
if (m_table != NULL) {
m_table->PutBoolean(kIsParented, true);
}
}
}
/**
@@ -311,15 +278,14 @@ void Command::SetParent(CommandGroup *parent)
* run() is called (multiple times potentially)
* removed() is called
*
* It is very important that startRunning and removed be called in order or some assumptions
* It is very important that startRunning and removed be called in order or some
* assumptions
* of the code will be broken.
*/
void Command::StartRunning()
{
m_running = true;
m_startTime = -1;
if (m_table != NULL)
m_table->PutBoolean(kRunning, true);
void Command::StartRunning() {
m_running = true;
m_startTime = -1;
if (m_table != NULL) m_table->PutBoolean(kRunning, true);
}
/**
@@ -328,62 +294,55 @@ void Command::StartRunning()
* not have yet called {@link Command#interrupted()}.
* @return whether or not the command is running
*/
bool Command::IsRunning() const
{
return m_running;
}
bool Command::IsRunning() const { return m_running; }
/**
* This will cancel the current command.
* <p>This will cancel the current command eventually. It can be called multiple times.
* And it can be called when the command is not running. If the command is running though,
* <p>This will cancel the current command eventually. It can be called
* multiple times.
* And it can be called when the command is not running. If the command is
* running though,
* then the command will be marked as canceled and eventually removed.</p>
* <p>A command can not be canceled
* if it is a part of a command group, you must cancel the command group instead.</p>
* if it is a part of a command group, you must cancel the command group
* instead.</p>
*/
void Command::Cancel()
{
if (m_parent != NULL)
wpi_setWPIErrorWithContext(CommandIllegalUse, "Can not cancel a command that is part of a command group");
void Command::Cancel() {
if (m_parent != NULL)
wpi_setWPIErrorWithContext(
CommandIllegalUse,
"Can not cancel a command that is part of a command group");
_Cancel();
_Cancel();
}
/**
* This works like cancel(), except that it doesn't throw an exception if it is a part
* This works like cancel(), except that it doesn't throw an exception if it is
* a part
* of a command group. Should only be called by the parent command group.
*/
void Command::_Cancel()
{
if (IsRunning())
m_canceled = true;
void Command::_Cancel() {
if (IsRunning()) m_canceled = true;
}
/**
* Returns whether or not this has been canceled.
* @return whether or not this has been canceled
*/
bool Command::IsCanceled() const
{
return m_canceled;
}
bool Command::IsCanceled() const { return m_canceled; }
/**
* Returns whether or not this command can be interrupted.
* @return whether or not this command can be interrupted
*/
bool Command::IsInterruptible() const
{
return m_interruptible;
}
bool Command::IsInterruptible() const { return m_interruptible; }
/**
* Sets whether or not this command can be interrupted.
* @param interruptible whether or not this command can be interrupted
*/
void Command::SetInterruptible(bool interruptible)
{
m_interruptible = interruptible;
void Command::SetInterruptible(bool interruptible) {
m_interruptible = interruptible;
}
/**
@@ -391,80 +350,63 @@ void Command::SetInterruptible(bool interruptible)
* @param system the system
* @return whether or not the subsystem is required (false if given NULL)
*/
bool Command::DoesRequire(Subsystem *system) const
{
return m_requirements.count(system) > 0;
bool Command::DoesRequire(Subsystem *system) const {
return m_requirements.count(system) > 0;
}
/**
* Returns the {@link CommandGroup} that this command is a part of.
* Will return null if this {@link Command} is not in a group.
* @return the {@link CommandGroup} that this command is a part of (or null if not in group)
* @return the {@link CommandGroup} that this command is a part of (or null if
* not in group)
*/
CommandGroup *Command::GetGroup() const
{
return m_parent;
}
CommandGroup *Command::GetGroup() const { return m_parent; }
/**
* Sets whether or not this {@link Command} should run when the robot is disabled.
* Sets whether or not this {@link Command} should run when the robot is
* disabled.
*
* <p>By default a command will not run when the robot is disabled, and will in fact be canceled.</p>
* <p>By default a command will not run when the robot is disabled, and will in
* fact be canceled.</p>
* @param run whether or not this command should run when the robot is disabled
*/
void Command::SetRunWhenDisabled(bool run)
{
m_runWhenDisabled = run;
}
void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
/**
* Returns whether or not this {@link Command} will run when the robot is disabled, or if it will cancel itself.
* @return whether or not this {@link Command} will run when the robot is disabled, or if it will cancel itself
* Returns whether or not this {@link Command} will run when the robot is
* disabled, or if it will cancel itself.
* @return whether or not this {@link Command} will run when the robot is
* disabled, or if it will cancel itself
*/
bool Command::WillRunWhenDisabled() const
{
return m_runWhenDisabled;
bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
std::string Command::GetName() {
if (m_name.length() == 0) {
m_name = std::string("Command_") + std::string(typeid(*this).name());
}
return m_name;
}
std::string Command::GetName()
{
if (m_name.length() == 0)
{
m_name = std::string("Command_") + std::string(typeid(*this).name());
}
return m_name;
std::string Command::GetSmartDashboardType() const { return "Command"; }
void Command::InitTable(ITable *table) {
if (m_table != NULL) m_table->RemoveTableListener(this);
m_table = table;
if (m_table != NULL) {
m_table->PutString(kName, GetName());
m_table->PutBoolean(kRunning, IsRunning());
m_table->PutBoolean(kIsParented, m_parent != NULL);
m_table->AddTableListener(kRunning, this, false);
}
}
std::string Command::GetSmartDashboardType() const
{
return "Command";
}
ITable *Command::GetTable() const { return m_table; }
void Command::InitTable(ITable* table)
{
if(m_table!=NULL)
m_table->RemoveTableListener(this);
m_table = table;
if(m_table!=NULL){
m_table->PutString(kName, GetName());
m_table->PutBoolean(kRunning, IsRunning());
m_table->PutBoolean(kIsParented, m_parent != NULL);
m_table->AddTableListener(kRunning, this, false);
}
}
ITable* Command::GetTable() const {
return m_table;
}
void Command::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew)
{
if (value.b){
if(!IsRunning())
Start();
}
else{
if(IsRunning())
Cancel();
}
void Command::ValueChanged(ITable *source, const std::string &key,
EntryValue value, bool isNew) {
if (value.b) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
}