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[wpilibc] Transition C++ classes to units::second_t (#3396)

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A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This commit is contained in:
Tyler Veness
2021-05-28 22:06:59 -07:00
committed by GitHub
parent 827b17a52b
commit e09293a15e
99 changed files with 503 additions and 790 deletions
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40
wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
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@@ -19,20 +19,21 @@ using namespace frc;
int Command::m_commandCounter = 0;
Command::Command() : Command("", -1.0) {}
Command::Command() : Command("", -1_s) {}
Command::Command(std::string_view name) : Command(name, -1.0) {}
Command::Command(std::string_view name) : Command(name, -1_s) {}
Command::Command(double timeout) : Command("", timeout) {}
Command::Command(units::second_t timeout) : Command("", timeout) {}
Command::Command(Subsystem& subsystem) : Command("", -1.0) {
Command::Command(Subsystem& subsystem) : Command("", -1_s) {
Requires(&subsystem);
}
Command::Command(std::string_view name, double timeout) {
Command::Command(std::string_view name, units::second_t timeout) {
// We use -1.0 to indicate no timeout.
if (timeout < 0.0 && timeout != -1.0) {
throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0.0", timeout);
if (timeout < 0_s && timeout != -1_s) {
throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0 s",
timeout.to<double>());
}
m_timeout = timeout;
@@ -47,22 +48,24 @@ Command::Command(std::string_view name, double timeout) {
}
Command::Command(std::string_view name, Subsystem& subsystem)
: Command(name, -1.0) {
: Command(name, -1_s) {
Requires(&subsystem);
}
Command::Command(double timeout, Subsystem& subsystem) : Command("", timeout) {
Command::Command(units::second_t timeout, Subsystem& subsystem)
: Command("", timeout) {
Requires(&subsystem);
}
Command::Command(std::string_view name, double timeout, Subsystem& subsystem)
Command::Command(std::string_view name, units::second_t timeout,
Subsystem& subsystem)
: Command(name, timeout) {
Requires(&subsystem);
}
double Command::TimeSinceInitialized() const {
if (m_startTime < 0.0) {
return 0.0;
units::second_t Command::TimeSinceInitialized() const {
if (m_startTime < 0_s) {
return 0_s;
} else {
return Timer::GetFPGATimestamp() - m_startTime;
}
@@ -170,16 +173,17 @@ int Command::GetID() const {
return m_commandID;
}
void Command::SetTimeout(double timeout) {
if (timeout < 0.0) {
throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0.0", timeout);
void Command::SetTimeout(units::second_t timeout) {
if (timeout < 0_s) {
throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0 s",
timeout.to<double>());
} else {
m_timeout = timeout;
}
}
bool Command::IsTimedOut() const {
return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
return m_timeout != -1_s && TimeSinceInitialized() >= m_timeout;
}
bool Command::AssertUnlocked(std::string_view message) {
@@ -264,7 +268,7 @@ void Command::Removed() {
void Command::StartRunning() {
m_running = true;
m_startTime = -1;
m_startTime = -1_s;
m_completed = false;
}