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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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56
commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp
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@@ -14,10 +14,10 @@
#include "wpi/sysid/SysIdRoutineLog.hpp"
#include "wpi/system/Timer.hpp"
namespace frc2::sysid {
namespace wpi::cmd::sysid {
using ramp_rate_t = units::unit_t<
units::compound_unit<units::volt, units::inverse<units::second>>>;
using ramp_rate_t = wpi::units::unit_t<
wpi::units::compound_unit<wpi::units::volt, wpi::units::inverse<wpi::units::second>>>;
/** Hardware-independent configuration for a SysId test routine. */
class Config {
@@ -26,14 +26,14 @@ class Config {
ramp_rate_t m_rampRate{1_V / 1_s};
/// The step voltage output used for dynamic test routines.
units::volt_t m_stepVoltage{7_V};
wpi::units::volt_t m_stepVoltage{7_V};
/// Safety timeout for the test routine commands.
units::second_t m_timeout{10_s};
wpi::units::second_t m_timeout{10_s};
/// Optional handle for recording test state in a third-party logging
/// solution.
std::function<void(frc::sysid::State)> m_recordState;
std::function<void(wpi::sysid::State)> m_recordState;
/**
* Create a new configuration for a SysId test routine.
@@ -49,9 +49,9 @@ class Config {
* passed to this callback instead of logged in WPILog.
*/
Config(std::optional<ramp_rate_t> rampRate,
std::optional<units::volt_t> stepVoltage,
std::optional<units::second_t> timeout,
std::function<void(frc::sysid::State)> recordState)
std::optional<wpi::units::volt_t> stepVoltage,
std::optional<wpi::units::second_t> timeout,
std::function<void(wpi::sysid::State)> recordState)
: m_recordState{std::move(recordState)} {
if (rampRate) {
m_rampRate = rampRate.value();
@@ -69,15 +69,15 @@ class Mechanism {
public:
/// Sends the SysId-specified drive signal to the mechanism motors during test
/// routines.
std::function<void(units::volt_t)> m_drive;
std::function<void(wpi::units::volt_t)> m_drive;
/// Returns measured data (voltages, positions, velocities) of the mechanism
/// motors during test routines.
std::function<void(frc::sysid::SysIdRoutineLog*)> m_log;
std::function<void(wpi::sysid::SysIdRoutineLog*)> m_log;
/// The subsystem containing the motor(s) that is (or are) being
/// characterized.
frc2::Subsystem* m_subsystem;
wpi::cmd::Subsystem* m_subsystem;
/// The name of the mechanism being tested. Will be appended to the log entry
/// title for the routine's test state, e.g. "sysid-test-state-mechanism".
@@ -102,11 +102,11 @@ class Mechanism {
* "sysid-test-state-mechanism". Defaults to the name of the subsystem if
* left null.
*/
Mechanism(std::function<void(units::volt_t)> drive,
std::function<void(frc::sysid::SysIdRoutineLog*)> log,
frc2::Subsystem* subsystem, std::string_view name)
Mechanism(std::function<void(wpi::units::volt_t)> drive,
std::function<void(wpi::sysid::SysIdRoutineLog*)> log,
wpi::cmd::Subsystem* subsystem, std::string_view name)
: m_drive{std::move(drive)},
m_log{log ? std::move(log) : [](frc::sysid::SysIdRoutineLog* log) {}},
m_log{log ? std::move(log) : [](wpi::sysid::SysIdRoutineLog* log) {}},
m_subsystem{subsystem},
m_name{name} {}
@@ -127,11 +127,11 @@ class Mechanism {
* test commands. The subsystem's `name` will be appended to the log entry
* title for the routine's test state, e.g. "sysid-test-state-subsystem".
*/
Mechanism(std::function<void(units::volt_t)> drive,
std::function<void(frc::sysid::SysIdRoutineLog*)> log,
frc2::Subsystem* subsystem)
Mechanism(std::function<void(wpi::units::volt_t)> drive,
std::function<void(wpi::sysid::SysIdRoutineLog*)> log,
wpi::cmd::Subsystem* subsystem)
: m_drive{std::move(drive)},
m_log{log ? std::move(log) : [](frc::sysid::SysIdRoutineLog* log) {}},
m_log{log ? std::move(log) : [](wpi::sysid::SysIdRoutineLog* log) {}},
m_subsystem{subsystem},
m_name{m_subsystem->GetName()} {}
};
@@ -167,7 +167,7 @@ enum Direction {
* times in a single logfile, the user will need to select which of the tests to
* use for the fit in the analysis tool.
*/
class SysIdRoutine : public frc::sysid::SysIdRoutineLog {
class SysIdRoutine : public wpi::sysid::SysIdRoutineLog {
public:
/**
* Create a new SysId characterization routine.
@@ -180,18 +180,18 @@ class SysIdRoutine : public frc::sysid::SysIdRoutineLog {
m_config(config),
m_mechanism(mechanism),
m_recordState(config.m_recordState ? config.m_recordState
: [this](frc::sysid::State state) {
: [this](wpi::sysid::State state) {
this->RecordState(state);
}) {}
frc2::CommandPtr Quasistatic(Direction direction);
frc2::CommandPtr Dynamic(Direction direction);
wpi::cmd::CommandPtr Quasistatic(Direction direction);
wpi::cmd::CommandPtr Dynamic(Direction direction);
private:
Config m_config;
Mechanism m_mechanism;
units::volt_t m_outputVolts{0};
std::function<void(frc::sysid::State)> m_recordState;
frc::Timer timer;
wpi::units::volt_t m_outputVolts{0};
std::function<void(wpi::sysid::State)> m_recordState;
wpi::Timer timer;
};
} // namespace frc2::sysid
} // namespace wpi::cmd::sysid