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[commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392)

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Moves all CommandBase functionality into Command and deprecates CommandBase for removal.
Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal.
Adds a function to CommandScheduler to remove all registered Subsystems.
This commit is contained in:
Ryan Blue
2023-07-14 01:12:01 -04:00
committed by GitHub
parent 7ac932996a
commit aaea85ff16
176 changed files with 887 additions and 910 deletions
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12
wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
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@@ -13,7 +13,7 @@
#include <utility>
#include <vector>
#include "frc2/command/CommandBase.h"
#include "frc2/command/Command.h"
namespace frc2 {
/**
@@ -28,7 +28,7 @@ namespace frc2 {
*/
class CommandPtr final {
public:
explicit CommandPtr(std::unique_ptr<CommandBase>&& command)
explicit CommandPtr(std::unique_ptr<Command>&& command)
: m_ptr(std::move(command)) {}
template <std::derived_from<Command> T>
@@ -269,15 +269,15 @@ class CommandPtr final {
/**
* Get a raw pointer to the held command.
*/
CommandBase* get() const&;
Command* get() const&;
// Prevent calls on a temporary, as the returned pointer would be invalid
CommandBase* get() && = delete;
Command* get() && = delete;
/**
* Convert to the underlying unique_ptr.
*/
std::unique_ptr<CommandBase> Unwrap() &&;
std::unique_ptr<Command> Unwrap() &&;
/**
* Schedules this command.
@@ -336,7 +336,7 @@ class CommandPtr final {
std::vector<CommandPtr>&& vec);
private:
std::unique_ptr<CommandBase> m_ptr;
std::unique_ptr<Command> m_ptr;
void AssertValid() const;
};