Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[commands] C++: Add CommandPtr overload for SetDefaultCommand (#4488)

Browse Source
This commit is contained in:
Starlight220
2022-10-21 16:35:58 +03:00
committed by GitHub
parent 0ca274866b
commit 9c7e66a27d
4 changed files with 46 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
View File

@@ -296,6 +296,20 @@ void CommandScheduler::UnregisterSubsystem(
}
}
void CommandScheduler::SetDefaultCommand(Subsystem* subsystem,
CommandPtr&& defaultCommand) {
if (!defaultCommand.get()->HasRequirement(subsystem)) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
"Default commands must require their subsystem!");
}
if (defaultCommand.get()->IsFinished()) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
"Default commands should not end!");
}
SetDefaultCommandImpl(subsystem, std::move(defaultCommand).Unwrap());
}
Command* CommandScheduler::GetDefaultCommand(const Subsystem* subsystem) const {
auto&& find = m_impl->subsystems.find(subsystem);
if (find != m_impl->subsystems.end()) {

7
wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
View File

@@ -4,6 +4,8 @@
#include "frc2/command/Subsystem.h"
#include "frc2/command/CommandPtr.h"
using namespace frc2;
Subsystem::~Subsystem() {
CommandScheduler::GetInstance().UnregisterSubsystem(this);
@@ -13,6 +15,11 @@ void Subsystem::Periodic() {}
void Subsystem::SimulationPeriodic() {}
void Subsystem::SetDefaultCommand(CommandPtr&& defaultCommand) {
CommandScheduler::GetInstance().SetDefaultCommand(this,
std::move(defaultCommand));
}
Command* Subsystem::GetDefaultCommand() const {
return CommandScheduler::GetInstance().GetDefaultCommand(this);
}