mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
Move CameraServer and WPILib headers into their own folder
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
31ced30c1e
commit
d89b7dd412
226
wpilibc/src/main/native/cpp/commands/Command.cpp
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226
wpilibc/src/main/native/cpp/commands/Command.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/commands/Command.h"
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#include <typeinfo>
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#include "frc/RobotState.h"
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#include "frc/Timer.h"
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#include "frc/WPIErrors.h"
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#include "frc/commands/CommandGroup.h"
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#include "frc/commands/Scheduler.h"
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#include "frc/livewindow/LiveWindow.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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int Command::m_commandCounter = 0;
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Command::Command() : Command("", -1.0) {}
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Command::Command(const wpi::Twine& name) : Command(name, -1.0) {}
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Command::Command(double timeout) : Command("", timeout) {}
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Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
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// We use -1.0 to indicate no timeout.
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if (timeout < 0.0 && timeout != -1.0)
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wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
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m_timeout = timeout;
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// If name contains an empty string
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if (name.isTriviallyEmpty() ||
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(name.isSingleStringRef() && name.getSingleStringRef().empty())) {
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SetName("Command_" + wpi::Twine(typeid(*this).name()));
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} else {
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SetName(name);
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}
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}
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double Command::TimeSinceInitialized() const {
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if (m_startTime < 0.0)
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return 0.0;
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else
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return Timer::GetFPGATimestamp() - m_startTime;
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}
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void Command::Requires(Subsystem* subsystem) {
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if (!AssertUnlocked("Can not add new requirement to command")) return;
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if (subsystem != nullptr)
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m_requirements.insert(subsystem);
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else
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wpi_setWPIErrorWithContext(NullParameter, "subsystem");
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}
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void Command::Start() {
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LockChanges();
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if (m_parent != nullptr)
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wpi_setWPIErrorWithContext(
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CommandIllegalUse,
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"Can not start a command that is part of a command group");
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m_completed = false;
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Scheduler::GetInstance()->AddCommand(this);
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}
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bool Command::Run() {
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if (!m_runWhenDisabled && m_parent == nullptr && RobotState::IsDisabled())
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Cancel();
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if (IsCanceled()) return false;
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if (!m_initialized) {
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m_initialized = true;
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StartTiming();
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_Initialize();
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Initialize();
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}
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_Execute();
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Execute();
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return !IsFinished();
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}
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void Command::Cancel() {
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if (m_parent != nullptr)
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wpi_setWPIErrorWithContext(
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CommandIllegalUse,
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"Can not cancel a command that is part of a command group");
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_Cancel();
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}
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bool Command::IsRunning() const { return m_running; }
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bool Command::IsInitialized() const { return m_initialized; }
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bool Command::IsCompleted() const { return m_completed; }
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bool Command::IsCanceled() const { return m_canceled; }
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bool Command::IsInterruptible() const { return m_interruptible; }
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void Command::SetInterruptible(bool interruptible) {
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m_interruptible = interruptible;
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}
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bool Command::DoesRequire(Subsystem* system) const {
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return m_requirements.count(system) > 0;
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}
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const Command::SubsystemSet& Command::GetRequirements() const {
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return m_requirements;
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}
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CommandGroup* Command::GetGroup() const { return m_parent; }
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void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
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bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
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int Command::GetID() const { return m_commandID; }
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void Command::SetTimeout(double timeout) {
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if (timeout < 0.0)
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wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
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else
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m_timeout = timeout;
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}
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bool Command::IsTimedOut() const {
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return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
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}
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bool Command::AssertUnlocked(const std::string& message) {
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if (m_locked) {
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std::string buf =
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message + " after being started or being added to a command group";
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wpi_setWPIErrorWithContext(CommandIllegalUse, buf);
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return false;
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}
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return true;
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}
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void Command::SetParent(CommandGroup* parent) {
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if (parent == nullptr) {
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wpi_setWPIErrorWithContext(NullParameter, "parent");
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} else if (m_parent != nullptr) {
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wpi_setWPIErrorWithContext(CommandIllegalUse,
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"Can not give command to a command group after "
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"already being put in a command group");
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} else {
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LockChanges();
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m_parent = parent;
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}
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}
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bool Command::IsParented() const { return m_parent != nullptr; }
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void Command::ClearRequirements() { m_requirements.clear(); }
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void Command::Initialize() {}
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void Command::Execute() {}
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void Command::End() {}
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void Command::Interrupted() { End(); }
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void Command::_Initialize() { m_completed = false; }
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void Command::_Interrupted() { m_completed = true; }
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void Command::_Execute() {}
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void Command::_End() { m_completed = true; }
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void Command::_Cancel() {
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if (IsRunning()) m_canceled = true;
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}
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void Command::LockChanges() { m_locked = true; }
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void Command::Removed() {
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if (m_initialized) {
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if (IsCanceled()) {
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Interrupted();
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_Interrupted();
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} else {
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End();
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_End();
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}
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}
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m_initialized = false;
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m_canceled = false;
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m_running = false;
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m_completed = true;
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}
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void Command::StartRunning() {
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m_running = true;
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m_startTime = -1;
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m_completed = false;
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}
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void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); }
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void Command::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Command");
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builder.AddStringProperty(".name", [=]() { return GetName(); }, nullptr);
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builder.AddBooleanProperty("running", [=]() { return IsRunning(); },
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[=](bool value) {
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if (value) {
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if (!IsRunning()) Start();
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} else {
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if (IsRunning()) Cancel();
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}
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});
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builder.AddBooleanProperty(".isParented", [=]() { return IsParented(); },
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nullptr);
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}
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