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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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2
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.cpp
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@@ -11,12 +11,14 @@ CommandTestBase::CommandTestBase() {
scheduler.CancelAll();
scheduler.Enable();
scheduler.GetActiveButtonLoop()->Clear();
scheduler.UnregisterAllSubsystems();
SetDSEnabled(true);
}
CommandTestBase::~CommandTestBase() {
CommandScheduler::GetInstance().GetActiveButtonLoop()->Clear();
CommandScheduler::GetInstance().UnregisterAllSubsystems();
}
CommandScheduler CommandTestBase::GetScheduler() {

8
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.h
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@@ -12,14 +12,14 @@
#include "frc2/command/CommandHelper.h"
#include "frc2/command/CommandScheduler.h"
#include "frc2/command/SetUtilities.h"
#include "frc2/command/SubsystemBase.h"
#include "frc2/command/Subsystem.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include "make_vector.h"
namespace frc2 {
class TestSubsystem : public SubsystemBase {
class TestSubsystem : public Subsystem {
public:
explicit TestSubsystem(std::function<void()> periodic = [] {})
: m_periodic{periodic} {}
@@ -32,7 +32,7 @@ class TestSubsystem : public SubsystemBase {
/**
* NOTE: Moving mock objects causes EXPECT_CALL to not work correctly!
*/
class MockCommand : public CommandHelper<CommandBase, MockCommand> {
class MockCommand : public CommandHelper<Command, MockCommand> {
public:
MOCK_CONST_METHOD0(GetRequirements, wpi::SmallSet<Subsystem*, 4>());
MOCK_METHOD0(IsFinished, bool());
@@ -107,12 +107,14 @@ class CommandTestBaseWithParam : public ::testing::TestWithParam<T> {
scheduler.CancelAll();
scheduler.Enable();
scheduler.GetActiveButtonLoop()->Clear();
scheduler.UnregisterAllSubsystems();
SetDSEnabled(true);
}
~CommandTestBaseWithParam() override {
CommandScheduler::GetInstance().GetActiveButtonLoop()->Clear();
CommandScheduler::GetInstance().UnregisterAllSubsystems();
}
protected:

3
wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
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@@ -17,6 +17,7 @@
#include <frc/simulation/SimHooks.h>
#include <frc/trajectory/TrajectoryGenerator.h>
#include "CommandTestBase.h"
#include "gtest/gtest.h"
#define EXPECT_NEAR_UNITS(val1, val2, eps) \
@@ -87,7 +88,7 @@ class MecanumControllerCommandTest : public ::testing::Test {
};
TEST_F(MecanumControllerCommandTest, ReachesReference) {
frc2::Subsystem subsystem;
frc2::TestSubsystem subsystem;
auto waypoints =
std::vector{frc::Pose2d{0_m, 0_m, 0_rad}, frc::Pose2d{1_m, 5_m, 3_rad}};

4
wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp
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@@ -14,7 +14,7 @@ class SchedulingRecursionTest
: public CommandTestBaseWithParam<Command::InterruptionBehavior> {};
class SelfCancellingCommand
: public CommandHelper<CommandBase, SelfCancellingCommand> {
: public CommandHelper<Command, SelfCancellingCommand> {
public:
SelfCancellingCommand(CommandScheduler* scheduler, Subsystem* requirement,
Command::InterruptionBehavior interruptionBehavior =
@@ -76,7 +76,7 @@ TEST_P(SchedulingRecursionTest,
EXPECT_TRUE(hasOtherRun);
}
class CancelEndCommand : public CommandHelper<CommandBase, CancelEndCommand> {
class CancelEndCommand : public CommandHelper<Command, CancelEndCommand> {
public:
CancelEndCommand(CommandScheduler* scheduler, int& counter)
: m_scheduler(scheduler), m_counter(counter) {}

3
wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
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@@ -18,6 +18,7 @@
#include <frc/simulation/SimHooks.h>
#include <frc/trajectory/TrajectoryGenerator.h>
#include "CommandTestBase.h"
#include "gtest/gtest.h"
#define EXPECT_NEAR_UNITS(val1, val2, eps) \
@@ -72,7 +73,7 @@ class SwerveControllerCommandTest : public ::testing::Test {
};
TEST_F(SwerveControllerCommandTest, ReachesReference) {
frc2::Subsystem subsystem;
frc2::TestSubsystem subsystem;
auto waypoints =
std::vector{frc::Pose2d{0_m, 0_m, 0_rad}, frc::Pose2d{1_m, 5_m, 3_rad}};