From 881dcd08e5015761eb4168df6a8c05798901aa28 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 20 Jul 2015 19:58:13 -0700
Subject: [PATCH] Fix std::unique_ptrs using incomplete types

CANTalon declared a std::unique_ptr<CanTalonSRX> with CanTalonSRX as an incomplete type. This causes a compilation error in code using CANTalons. The CANTalonTest didn't catch this because it included ctre/CanTalonSRX.h as well as CANTalon.h. Normal user code doesn't do that.

I reviewed uses of std::unique_ptr elsewhere and determined that PIDCommand may suffer from the same problem. There is no test for PIDCommand to prove otherwise.

Change-Id: I54caf4941927910471ffb7170eb6737ba0e08437
---
 wpilibc/wpilibC++/include/Commands/PIDCommand.h        | 3 +--
 wpilibc/wpilibC++/src/Commands/PIDCommand.cpp          | 1 -
 wpilibc/wpilibC++Devices/include/CANTalon.h            | 3 +--
 wpilibc/wpilibC++Devices/src/CANTalon.cpp              | 1 -
 wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp | 1 -
 5 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/wpilibc/wpilibC++/include/Commands/PIDCommand.h b/wpilibc/wpilibC++/include/Commands/PIDCommand.h
index 216818febd..20443f49a5 100644
--- a/wpilibc/wpilibC++/include/Commands/PIDCommand.h
+++ b/wpilibc/wpilibC++/include/Commands/PIDCommand.h
@@ -9,13 +9,12 @@
 #define __PID_COMMAND_H__
 
 #include "Commands/Command.h"
+#include "PIDController.h"
 #include "PIDSource.h"
 #include "PIDOutput.h"
 
 #include <memory>
 
-class PIDController;
-
 class PIDCommand : public Command, public PIDOutput, public PIDSource {
  public:
   PIDCommand(const std::string &name, double p, double i, double d);
diff --git a/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp b/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp
index e508e366b4..52a568a518 100644
--- a/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp
+++ b/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp
@@ -7,7 +7,6 @@
 
 #include "Commands/PIDCommand.h"
 
-#include "PIDController.h"
 #include "float.h"
 
 PIDCommand::PIDCommand(const std::string &name, double p, double i, double d, double f,
diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index a3d679a446..9de185a57f 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -10,14 +10,13 @@
 #include "PIDOutput.h"
 #include "PIDSource.h"
 #include "PIDInterface.h"
+#include "ctre/CanTalonSRX.h"
 #include "MotorSafetyHelper.h"
 #include "LiveWindow/LiveWindowSendable.h"
 #include "tables/ITable.h"
 
 #include <memory>
 
-class CanTalonSRX;
-
 /**
  * CTRE Talon SRX Speed Controller with CAN Control
  */
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 3e2c8073ff..8d3eff599d 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -6,7 +6,6 @@
 
 #include "CANTalon.h"
 #include "WPIErrors.h"
-#include "ctre/CanTalonSRX.h"
 #include <unistd.h>  // usleep
 #include <sstream>
 
diff --git a/wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp
index ca2c148835..03f7ad9319 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp
@@ -7,7 +7,6 @@
 #include "WPILib.h"
 #include "gtest/gtest.h"
 #include "TestBench.h"
-#include "ctre/CanTalonSRX.h"
 
 const int deviceId = 0;