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Replace SFINAE with concepts (#5361)

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Concepts are cleaner to use and result in much better error messages for incorrect template use.
This commit is contained in:
Tyler Veness
2023-06-07 09:50:09 -07:00
committed by GitHub
parent d57d1a4598
commit 91cbcea841
42 changed files with 397 additions and 361 deletions
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39
wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
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@@ -13,6 +13,8 @@
#include <utility>
#include <vector>
#include <wpi/concepts.h>
#include "frc2/command/CommandPtr.h"
#include "frc2/command/SelectCommand.h"
@@ -166,10 +168,10 @@ CommandPtr Either(CommandPtr&& onTrue, CommandPtr&& onFalse,
* @param selector the selector function
* @param commands map of commands to select from
*/
template <typename Key, class... Types>
template <typename Key, std::convertible_to<CommandPtr>... CommandPtrs>
[[nodiscard]]
CommandPtr Select(std::function<Key()> selector,
std::pair<Key, Types>&&... commands) {
std::pair<Key, CommandPtrs>&&... commands) {
std::vector<std::pair<Key, std::unique_ptr<Command>>> vec;
((void)vec.emplace_back(commands.first, std::move(commands.second).Unwrap()),
@@ -185,7 +187,7 @@ namespace impl {
/**
* Create a vector of commands.
*/
template <typename... Args>
template <std::convertible_to<CommandPtr>... Args>
std::vector<CommandPtr> MakeVector(Args&&... args) {
std::vector<CommandPtr> data;
data.reserve(sizeof...(Args));
@@ -204,10 +206,10 @@ CommandPtr Sequence(std::vector<CommandPtr>&& commands);
/**
* Runs a group of commands in series, one after the other.
*/
template <typename... Args>
template <std::convertible_to<CommandPtr>... CommandPtrs>
[[nodiscard]]
CommandPtr Sequence(Args&&... commands) {
return Sequence(impl::MakeVector(std::forward<Args>(commands)...));
CommandPtr Sequence(CommandPtrs&&... commands) {
return Sequence(impl::MakeVector(std::forward<CommandPtrs>(commands)...));
}
/**
@@ -221,10 +223,11 @@ CommandPtr RepeatingSequence(std::vector<CommandPtr>&& commands);
* Runs a group of commands in series, one after the other. Once the last
* command ends, the group is restarted.
*/
template <typename... Args>
template <std::convertible_to<CommandPtr>... CommandPtrs>
[[nodiscard]]
CommandPtr RepeatingSequence(Args&&... commands) {
return RepeatingSequence(impl::MakeVector(std::forward<Args>(commands)...));
CommandPtr RepeatingSequence(CommandPtrs&&... commands) {
return RepeatingSequence(
impl::MakeVector(std::forward<CommandPtrs>(commands)...));
}
/**
@@ -238,10 +241,10 @@ CommandPtr Parallel(std::vector<CommandPtr>&& commands);
* Runs a group of commands at the same time. Ends once all commands in the
* group finish.
*/
template <typename... Args>
template <std::convertible_to<CommandPtr>... CommandPtrs>
[[nodiscard]]
CommandPtr Parallel(Args&&... commands) {
return Parallel(impl::MakeVector(std::forward<Args>(commands)...));
CommandPtr Parallel(CommandPtrs&&... commands) {
return Parallel(impl::MakeVector(std::forward<CommandPtrs>(commands)...));
}
/**
@@ -255,10 +258,10 @@ CommandPtr Race(std::vector<CommandPtr>&& commands);
* Runs a group of commands at the same time. Ends once any command in the group
* finishes, and cancels the others.
*/
template <typename... Args>
template <std::convertible_to<CommandPtr>... CommandPtrs>
[[nodiscard]]
CommandPtr Race(Args&&... commands) {
return Race(impl::MakeVector(std::forward<Args>(commands)...));
CommandPtr Race(CommandPtrs&&... commands) {
return Race(impl::MakeVector(std::forward<CommandPtrs>(commands)...));
}
/**
@@ -272,11 +275,11 @@ CommandPtr Deadline(CommandPtr&& deadline, std::vector<CommandPtr>&& others);
* Runs a group of commands at the same time. Ends once a specific command
* finishes, and cancels the others.
*/
template <typename... Args>
template <std::convertible_to<CommandPtr>... CommandPtrs>
[[nodiscard]]
CommandPtr Deadline(CommandPtr&& deadline, Args&&... commands) {
CommandPtr Deadline(CommandPtr&& deadline, CommandPtrs&&... commands) {
return Deadline(std::move(deadline),
impl::MakeVector(std::forward<Args>(commands)...));
impl::MakeVector(std::forward<CommandPtrs>(commands)...));
}
} // namespace cmd