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Update to 2018_v4 image and new build system. (#598)

Browse Source 
* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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459
wpilibc/src/main/native/cpp/Commands/Command.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/Command.h"
#include <typeinfo>
#include "Commands/CommandGroup.h"
#include "Commands/Scheduler.h"
#include "RobotState.h"
#include "Timer.h"
#include "WPIErrors.h"
using namespace frc;
static const std::string kName = "name";
static const std::string kRunning = "running";
static const std::string kIsParented = "isParented";
int Command::m_commandCounter = 0;
/**
* Creates a new command.
* The name of this command will be default.
*/
Command::Command() : Command("", -1.0) {}
/**
* Creates a new command with the given name and no timeout.
*
* @param name the name for this command
*/
Command::Command(const std::string& name) : Command(name, -1.0) {}
/**
* Creates a new command with the given timeout and a default name.
*
* @param timeout the time (in seconds) before this command "times out"
* @see Command#isTimedOut() isTimedOut()
*/
Command::Command(double timeout) : Command("", timeout) {}
/**
* Creates a new command with the given name and timeout.
*
* @param name the name of the command
* @param timeout the time (in seconds) before this command "times out"
* @see Command#isTimedOut() isTimedOut()
*/
Command::Command(const std::string& name, double timeout) {
// We use -1.0 to indicate no timeout.
if (timeout < 0.0 && timeout != -1.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
m_timeout = timeout;
// If name contains an empty string
if (name.length() == 0) {
m_name = std::string("Command_") + std::string(typeid(*this).name());
} else {
m_name = name;
}
}
Command::~Command() {
if (m_table != nullptr) m_table->RemoveTableListener(this);
}
/**
* Get the ID (sequence number) for this command.
*
* The ID is a unique sequence number that is incremented for each command.
*
* @return the ID of this command
*/
int Command::GetID() const { return m_commandID; }
/**
* Sets the timeout of this command.
*
* @param timeout the timeout (in seconds)
* @see Command#isTimedOut() isTimedOut()
*/
void Command::SetTimeout(double timeout) {
if (timeout < 0.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
else
m_timeout = timeout;
}
/**
* Returns the time since this command was initialized (in seconds).
*
* This function will work even if there is no specified timeout.
*
* @return the time since this command was initialized (in seconds).
*/
double Command::TimeSinceInitialized() const {
if (m_startTime < 0.0)
return 0.0;
else
return Timer::GetFPGATimestamp() - m_startTime;
}
/**
* This method specifies that the given {@link Subsystem} is used by this
* command.
*
* This method is crucial to the functioning of the Command System in general.
*
* <p>Note that the recommended way to call this method is in the
* constructor.</p>
*
* @param subsystem the {@link Subsystem} required
* @see Subsystem
*/
void Command::Requires(Subsystem* subsystem) {
if (!AssertUnlocked("Can not add new requirement to command")) return;
if (subsystem != nullptr)
m_requirements.insert(subsystem);
else
wpi_setWPIErrorWithContext(NullParameter, "subsystem");
}
/**
* Called when the command has been removed.
*
* This will call {@link Command#interrupted() interrupted()} or
* {@link Command#end() end()}.
*/
void Command::Removed() {
if (m_initialized) {
if (IsCanceled()) {
Interrupted();
_Interrupted();
} else {
End();
_End();
}
}
m_initialized = false;
m_canceled = false;
m_running = false;
if (m_table != nullptr) m_table->PutBoolean(kRunning, false);
}
/**
* Starts up the command. Gets the command ready to start.
*
* <p>Note that the command will eventually start, however it will not
* necessarily do so immediately, and may in fact be canceled before initialize
* is even called.</p>
*/
void Command::Start() {
LockChanges();
if (m_parent != nullptr)
wpi_setWPIErrorWithContext(
CommandIllegalUse,
"Can not start a command that is part of a command group");
Scheduler::GetInstance()->AddCommand(this);
}
/**
* The run method is used internally to actually run the commands.
*
* @return whether or not the command should stay within the {@link Scheduler}.
*/
bool Command::Run() {
if (!m_runWhenDisabled && m_parent == nullptr && RobotState::IsDisabled())
Cancel();
if (IsCanceled()) return false;
if (!m_initialized) {
m_initialized = true;
StartTiming();
_Initialize();
Initialize();
}
_Execute();
Execute();
return !IsFinished();
}
/**
* The initialize method is called the first time this Command is run after
* being started.
*/
void Command::Initialize() {}
/**
* The execute method is called repeatedly until this Command either finishes
* or is canceled.
*/
void Command::Execute() {}
/**
* Called when the command ended peacefully. This is where you may want
* to wrap up loose ends, like shutting off a motor that was being used
* in the command.
*/
void Command::End() {}
/**
* Called when the command ends because somebody called
* {@link Command#cancel() cancel()} or another command shared the same
* requirements as this one, and booted it out.
*
* <p>This is where you may want to wrap up loose ends, like shutting off a
* motor that was being used in the command.</p>
*
* <p>Generally, it is useful to simply call the {@link Command#end() end()}
* method within this method, as done here.</p>
*/
void Command::Interrupted() { End(); }
void Command::_Initialize() {}
void Command::_Interrupted() {}
void Command::_Execute() {}
void Command::_End() {}
/**
* Called to indicate that the timer should start.
*
* This is called right before {@link Command#initialize() initialize()} is,
* inside the {@link Command#run() run()} method.
*/
void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); }
/**
* Returns whether or not the
* {@link Command#timeSinceInitialized() timeSinceInitialized()} method returns
* a number which is greater than or equal to the timeout for the command.
*
* If there is no timeout, this will always return false.
*
* @return whether the time has expired
*/
bool Command::IsTimedOut() const {
return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
}
/**
* Returns the requirements (as an std::set of {@link Subsystem Subsystems}
* pointers) of this command.
*
* @return the requirements (as an std::set of {@link Subsystem Subsystems}
* pointers) of this command
*/
Command::SubsystemSet Command::GetRequirements() const {
return m_requirements;
}
/**
* Prevents further changes from being made.
*/
void Command::LockChanges() { m_locked = true; }
/**
* If changes are locked, then this will generate a CommandIllegalUse error.
*
* @param message the message to report on error (it is appended by a default
* message)
* @return true if assert passed, false if assert failed
*/
bool Command::AssertUnlocked(const std::string& message) {
if (m_locked) {
std::string buf =
message + " after being started or being added to a command group";
wpi_setWPIErrorWithContext(CommandIllegalUse, buf);
return false;
}
return true;
}
/**
* Sets the parent of this command. No actual change is made to the group.
*
* @param parent the parent
*/
void Command::SetParent(CommandGroup* parent) {
if (parent == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "parent");
} else if (m_parent != nullptr) {
wpi_setWPIErrorWithContext(CommandIllegalUse,
"Can not give command to a command group after "
"already being put in a command group");
} else {
LockChanges();
m_parent = parent;
if (m_table != nullptr) {
m_table->PutBoolean(kIsParented, true);
}
}
}
/**
* Clears list of subsystem requirements. This is only used by
* {@link ConditionalCommand} so cancelling the chosen command works properly in
* {@link CommandGroup}.
*/
void Command::ClearRequirements() { m_requirements.clear(); }
/**
* This is used internally to mark that the command has been started.
*
* The lifecycle of a command is:
*
* startRunning() is called.
* run() is called (multiple times potentially)
* removed() is called
*
* It is very important that startRunning and removed be called in order or some
* assumptions of the code will be broken.
*/
void Command::StartRunning() {
m_running = true;
m_startTime = -1;
if (m_table != nullptr) m_table->PutBoolean(kRunning, true);
}
/**
* Returns whether or not the command is running.
*
* This may return true even if the command has just been canceled, as it may
* not have yet called {@link Command#interrupted()}.
*
* @return whether or not the command is running
*/
bool Command::IsRunning() const { return m_running; }
/**
* This will cancel the current command.
*
* <p>This will cancel the current command eventually. It can be called
* multiple times. And it can be called when the command is not running. If
* the command is running though, then the command will be marked as canceled
* and eventually removed.</p>
*
* <p>A command can not be canceled if it is a part of a command group, you
* must cancel the command group instead.</p>
*/
void Command::Cancel() {
if (m_parent != nullptr)
wpi_setWPIErrorWithContext(
CommandIllegalUse,
"Can not cancel a command that is part of a command group");
_Cancel();
}
/**
* This works like cancel(), except that it doesn't throw an exception if it is
* a part of a command group.
*
* Should only be called by the parent command group.
*/
void Command::_Cancel() {
if (IsRunning()) m_canceled = true;
}
/**
* Returns whether or not this has been canceled.
*
* @return whether or not this has been canceled
*/
bool Command::IsCanceled() const { return m_canceled; }
/**
* Returns whether or not this command can be interrupted.
*
* @return whether or not this command can be interrupted
*/
bool Command::IsInterruptible() const { return m_interruptible; }
/**
* Sets whether or not this command can be interrupted.
*
* @param interruptible whether or not this command can be interrupted
*/
void Command::SetInterruptible(bool interruptible) {
m_interruptible = interruptible;
}
/**
* Checks if the command requires the given {@link Subsystem}.
*
* @param system the system
* @return whether or not the subsystem is required (false if given nullptr)
*/
bool Command::DoesRequire(Subsystem* system) const {
return m_requirements.count(system) > 0;
}
/**
* Returns the {@link CommandGroup} that this command is a part of.
*
* Will return null if this {@link Command} is not in a group.
*
* @return the {@link CommandGroup} that this command is a part of (or null if
* not in group)
*/
CommandGroup* Command::GetGroup() const { return m_parent; }
/**
* Sets whether or not this {@link Command} should run when the robot is
* disabled.
*
* <p>By default a command will not run when the robot is disabled, and will in
* fact be canceled.</p>
*
* @param run whether or not this command should run when the robot is disabled
*/
void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
/**
* Returns whether or not this {@link Command} will run when the robot is
* disabled, or if it will cancel itself.
*
* @return whether or not this {@link Command} will run when the robot is
* disabled, or if it will cancel itself
*/
bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
std::string Command::GetName() const { return m_name; }
std::string Command::GetSmartDashboardType() const { return "Command"; }
void Command::InitTable(std::shared_ptr<ITable> subtable) {
if (m_table != nullptr) m_table->RemoveTableListener(this);
m_table = subtable;
if (m_table != nullptr) {
m_table->PutString(kName, GetName());
m_table->PutBoolean(kRunning, IsRunning());
m_table->PutBoolean(kIsParented, m_parent != nullptr);
m_table->AddTableListener(kRunning, this, false);
}
}
std::shared_ptr<ITable> Command::GetTable() const { return m_table; }
void Command::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {
if (!value->IsBoolean()) return;
if (value->GetBoolean()) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
}

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wpilibc/src/main/native/cpp/Commands/CommandGroup.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/CommandGroup.h"
#include "WPIErrors.h"
using namespace frc;
/**
* Creates a new {@link CommandGroup CommandGroup} with the given name.
* @param name the name for this command group
*/
CommandGroup::CommandGroup(const std::string& name) : Command(name) {}
/**
* Adds a new {@link Command Command} to the group. The {@link Command Command}
* will be started after all the previously added {@link Command Commands}.
*
* <p>Note that any requirements the given {@link Command Command} has will be
* added to the group. For this reason, a {@link Command Command's}
* requirements can not be changed after being added to a group.</p>
*
* <p>It is recommended that this method be called in the constructor.</p>
*
* @param command The {@link Command Command} to be added
*/
void CommandGroup::AddSequential(Command* command) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
if (!AssertUnlocked("Cannot add new command to command group")) return;
command->SetParent(this);
m_commands.push_back(
CommandGroupEntry(command, CommandGroupEntry::kSequence_InSequence));
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
Command::SubsystemSet requirements = command->GetRequirements();
for (auto iter = requirements.begin(); iter != requirements.end(); iter++)
Requires(*iter);
}
/**
* Adds a new {@link Command Command} to the group with a given timeout.
* The {@link Command Command} will be started after all the previously added
* commands.
*
* <p>Once the {@link Command Command} is started, it will be run until it
* finishes or the time expires, whichever is sooner. Note that the given
* {@link Command Command} will have no knowledge that it is on a timer.</p>
*
* <p>Note that any requirements the given {@link Command Command} has will be
* added to the group. For this reason, a {@link Command Command's}
* requirements can not be changed after being added to a group.</p>
*
* <p>It is recommended that this method be called in the constructor.</p>
*
* @param command The {@link Command Command} to be added
* @param timeout The timeout (in seconds)
*/
void CommandGroup::AddSequential(Command* command, double timeout) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
if (!AssertUnlocked("Cannot add new command to command group")) return;
if (timeout < 0.0) {
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
return;
}
command->SetParent(this);
m_commands.push_back(CommandGroupEntry(
command, CommandGroupEntry::kSequence_InSequence, timeout));
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
Command::SubsystemSet requirements = command->GetRequirements();
for (auto iter = requirements.begin(); iter != requirements.end(); iter++)
Requires(*iter);
}
/**
* Adds a new child {@link Command} to the group. The {@link Command} will be
* started after all the previously added {@link Command Commands}.
*
* <p>Instead of waiting for the child to finish, a {@link CommandGroup} will
* have it run at the same time as the subsequent {@link Command Commands}.
* The child will run until either it finishes, a new child with conflicting
* requirements is started, or the main sequence runs a {@link Command} with
* conflicting requirements. In the latter two cases, the child will be
* canceled even if it says it can't be interrupted.</p>
*
* <p>Note that any requirements the given {@link Command Command} has will be
* added to the group. For this reason, a {@link Command Command's}
* requirements can not be changed after being added to a group.</p>
*
* <p>It is recommended that this method be called in the constructor.</p>
*
* @param command The command to be added
*/
void CommandGroup::AddParallel(Command* command) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
if (!AssertUnlocked("Cannot add new command to command group")) return;
command->SetParent(this);
m_commands.push_back(
CommandGroupEntry(command, CommandGroupEntry::kSequence_BranchChild));
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
Command::SubsystemSet requirements = command->GetRequirements();
for (auto iter = requirements.begin(); iter != requirements.end(); iter++)
Requires(*iter);
}
/**
* Adds a new child {@link Command} to the group with the given timeout. The
* {@link Command} will be started after all the previously added
* {@link Command Commands}.
*
* <p>Once the {@link Command Command} is started, it will run until it
* finishes, is interrupted, or the time expires, whichever is sooner. Note
* that the given {@link Command Command} will have no knowledge that it is on
* a timer.</p>
*
* <p>Instead of waiting for the child to finish, a {@link CommandGroup} will
* have it run at the same time as the subsequent {@link Command Commands}.
* The child will run until either it finishes, the timeout expires, a new
* child with conflicting requirements is started, or the main sequence runs a
* {@link Command} with conflicting requirements. In the latter two cases, the
* child will be canceled even if it says it can't be interrupted.</p>
*
* <p>Note that any requirements the given {@link Command Command} has will be
* added to the group. For this reason, a {@link Command Command's}
* requirements can not be changed after being added to a group.</p>
*
* <p>It is recommended that this method be called in the constructor.</p>
*
* @param command The command to be added
* @param timeout The timeout (in seconds)
*/
void CommandGroup::AddParallel(Command* command, double timeout) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
if (!AssertUnlocked("Cannot add new command to command group")) return;
if (timeout < 0.0) {
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
return;
}
command->SetParent(this);
m_commands.push_back(CommandGroupEntry(
command, CommandGroupEntry::kSequence_BranchChild, timeout));
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
Command::SubsystemSet requirements = command->GetRequirements();
for (auto iter = requirements.begin(); iter != requirements.end(); iter++)
Requires(*iter);
}
void CommandGroup::_Initialize() { m_currentCommandIndex = -1; }
void CommandGroup::_Execute() {
CommandGroupEntry entry;
Command* cmd = nullptr;
bool firstRun = false;
if (m_currentCommandIndex == -1) {
firstRun = true;
m_currentCommandIndex = 0;
}
while (static_cast<size_t>(m_currentCommandIndex) < m_commands.size()) {
if (cmd != nullptr) {
if (entry.IsTimedOut()) cmd->_Cancel();
if (cmd->Run()) {
break;
} else {
cmd->Removed();
m_currentCommandIndex++;
firstRun = true;
cmd = nullptr;
continue;
}
}
entry = m_commands[m_currentCommandIndex];
cmd = nullptr;
switch (entry.m_state) {
case CommandGroupEntry::kSequence_InSequence:
cmd = entry.m_command;
if (firstRun) {
cmd->StartRunning();
CancelConflicts(cmd);
firstRun = false;
}
break;
case CommandGroupEntry::kSequence_BranchPeer:
m_currentCommandIndex++;
entry.m_command->Start();
break;
case CommandGroupEntry::kSequence_BranchChild:
m_currentCommandIndex++;
CancelConflicts(entry.m_command);
entry.m_command->StartRunning();
m_children.push_back(entry);
break;
}
}
// Run Children
for (auto iter = m_children.begin(); iter != m_children.end();) {
entry = *iter;
Command* child = entry.m_command;
if (entry.IsTimedOut()) child->_Cancel();
if (!child->Run()) {
child->Removed();
iter = m_children.erase(iter);
} else {
iter++;
}
}
}
void CommandGroup::_End() {
// Theoretically, we don't have to check this, but we do if teams override the
// IsFinished method
if (m_currentCommandIndex != -1 &&
static_cast<size_t>(m_currentCommandIndex) < m_commands.size()) {
Command* cmd = m_commands[m_currentCommandIndex].m_command;
cmd->_Cancel();
cmd->Removed();
}
for (auto iter = m_children.begin(); iter != m_children.end(); iter++) {
Command* cmd = iter->m_command;
cmd->_Cancel();
cmd->Removed();
}
m_children.clear();
}
void CommandGroup::_Interrupted() { _End(); }
// Can be overwritten by teams
void CommandGroup::Initialize() {}
// Can be overwritten by teams
void CommandGroup::Execute() {}
// Can be overwritten by teams
void CommandGroup::End() {}
// Can be overwritten by teams
void CommandGroup::Interrupted() {}
bool CommandGroup::IsFinished() {
return static_cast<size_t>(m_currentCommandIndex) >= m_commands.size() &&
m_children.empty();
}
bool CommandGroup::IsInterruptible() const {
if (!Command::IsInterruptible()) return false;
if (m_currentCommandIndex != -1 &&
static_cast<size_t>(m_currentCommandIndex) < m_commands.size()) {
Command* cmd = m_commands[m_currentCommandIndex].m_command;
if (!cmd->IsInterruptible()) return false;
}
for (auto iter = m_children.cbegin(); iter != m_children.cend(); iter++) {
if (!iter->m_command->IsInterruptible()) return false;
}
return true;
}
void CommandGroup::CancelConflicts(Command* command) {
for (auto childIter = m_children.begin(); childIter != m_children.end();) {
Command* child = childIter->m_command;
bool erased = false;
Command::SubsystemSet requirements = command->GetRequirements();
for (auto requirementIter = requirements.begin();
requirementIter != requirements.end(); requirementIter++) {
if (child->DoesRequire(*requirementIter)) {
child->_Cancel();
child->Removed();
childIter = m_children.erase(childIter);
erased = true;
break;
}
}
if (!erased) childIter++;
}
}
int CommandGroup::GetSize() const { return m_children.size(); }

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wpilibc/src/main/native/cpp/Commands/CommandGroupEntry.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/CommandGroupEntry.h"
#include "Commands/Command.h"
using namespace frc;
CommandGroupEntry::CommandGroupEntry(Command* command, Sequence state,
double timeout)
: m_timeout(timeout), m_command(command), m_state(state) {}
bool CommandGroupEntry::IsTimedOut() const {
if (m_timeout < 0.0) return false;
double time = m_command->TimeSinceInitialized();
if (time == 0.0) return false;
return time >= m_timeout;
}

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wpilibc/src/main/native/cpp/Commands/ConditionalCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/ConditionalCommand.h"
#include "Commands/Scheduler.h"
using namespace frc;
static void RequireAll(Command& command, Command* onTrue, Command* onFalse) {
if (onTrue != nullptr) {
for (auto requirement : onTrue->GetRequirements())
command.Requires(requirement);
}
if (onFalse != nullptr) {
for (auto requirement : onFalse->GetRequirements())
command.Requires(requirement);
}
}
/**
* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
*
* @param onTrue The Command to execute if {@link
* ConditionalCommand#Condition()} returns true
* @param onFalse The Command to execute if {@link
* ConditionalCommand#Condition()} returns false
*/
ConditionalCommand::ConditionalCommand(Command* onTrue, Command* onFalse) {
m_onTrue = onTrue;
m_onFalse = onFalse;
RequireAll(*this, onTrue, onFalse);
}
/**
* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
*
* @param name the name for this command group
* @param onTrue The Command to execute if {@link
* ConditionalCommand#Condition()} returns true
* @param onFalse The Command to execute if {@link
* ConditionalCommand#Condition()} returns false
*/
ConditionalCommand::ConditionalCommand(const std::string& name, Command* onTrue,
Command* onFalse)
: Command(name) {
m_onTrue = onTrue;
m_onFalse = onFalse;
RequireAll(*this, onTrue, onFalse);
}
void ConditionalCommand::_Initialize() {
if (Condition()) {
m_chosenCommand = m_onTrue;
} else {
m_chosenCommand = m_onFalse;
}
if (m_chosenCommand != nullptr) {
/*
* This is a hack to make cancelling the chosen command inside a
* CommandGroup work properly
*/
m_chosenCommand->ClearRequirements();
m_chosenCommand->Start();
}
}
void ConditionalCommand::_Cancel() {
if (m_chosenCommand != nullptr && m_chosenCommand->IsRunning()) {
m_chosenCommand->Cancel();
}
Command::_Cancel();
}
bool ConditionalCommand::IsFinished() {
return m_chosenCommand != nullptr && m_chosenCommand->IsRunning() &&
m_chosenCommand->IsFinished();
}
void ConditionalCommand::Interrupted() {
if (m_chosenCommand != nullptr && m_chosenCommand->IsRunning()) {
m_chosenCommand->Cancel();
}
Command::Interrupted();
}

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wpilibc/src/main/native/cpp/Commands/InstantCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/InstantCommand.h"
using namespace frc;
/**
* Creates a new {@link InstantCommand} with the given name.
* @param name the name for this command
*/
InstantCommand::InstantCommand(const std::string& name) : Command(name) {}
bool InstantCommand::IsFinished() { return true; }

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wpilibc/src/main/native/cpp/Commands/PIDCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/PIDCommand.h"
#include <cfloat>
using namespace frc;
PIDCommand::PIDCommand(const std::string& name, double p, double i, double d,
double f, double period)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, double f, double period) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
PIDCommand::PIDCommand(const std::string& name, double p, double i, double d)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(const std::string& name, double p, double i, double d,
double period)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(double p, double i, double d, double period) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
void PIDCommand::_Initialize() { m_controller->Enable(); }
void PIDCommand::_End() { m_controller->Disable(); }
void PIDCommand::_Interrupted() { _End(); }
void PIDCommand::SetSetpointRelative(double deltaSetpoint) {
SetSetpoint(GetSetpoint() + deltaSetpoint);
}
void PIDCommand::PIDWrite(double output) { UsePIDOutput(output); }
double PIDCommand::PIDGet() { return ReturnPIDInput(); }
std::shared_ptr<PIDController> PIDCommand::GetPIDController() const {
return m_controller;
}
void PIDCommand::SetSetpoint(double setpoint) {
m_controller->SetSetpoint(setpoint);
}
double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }
double PIDCommand::GetPosition() { return ReturnPIDInput(); }
std::string PIDCommand::GetSmartDashboardType() const { return "PIDCommand"; }
void PIDCommand::InitTable(std::shared_ptr<ITable> subtable) {
m_controller->InitTable(subtable);
Command::InitTable(subtable);
}

248
wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/PIDSubsystem.h"
#include "PIDController.h"
using namespace frc;
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
*
* @param name the name
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
*/
PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
double d)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
*
* @param name the name
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedforward value
*/
PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
double d, double f)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
*
* It will also space the time between PID loop calculations to be equal to the
* given period.
*
* @param name the name
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedfoward value
* @param period the time (in seconds) between calculations
*/
PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
double d, double f, double period)
: Subsystem(name) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
*
* It will use the class name as its name.
*
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
*/
PIDSubsystem::PIDSubsystem(double p, double i, double d)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
*
* It will use the class name as its name.
*
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedforward value
*/
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
*
* It will use the class name as its name. It will also space the time
* between PID loop calculations to be equal to the given period.
*
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedforward value
* @param period the time (in seconds) between calculations
*/
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
double period)
: Subsystem("PIDSubsystem") {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
/**
* Enables the internal {@link PIDController}.
*/
void PIDSubsystem::Enable() { m_controller->Enable(); }
/**
* Disables the internal {@link PIDController}.
*/
void PIDSubsystem::Disable() { m_controller->Disable(); }
/**
* Returns the {@link PIDController} used by this {@link PIDSubsystem}.
*
* Use this if you would like to fine tune the pid loop.
*
* @return the {@link PIDController} used by this {@link PIDSubsystem}
*/
std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
return m_controller;
}
/**
* Sets the setpoint to the given value.
*
* If {@link PIDCommand#SetRange(double, double) SetRange(...)} was called,
* then the given setpoint will be trimmed to fit within the range.
*
* @param setpoint the new setpoint
*/
void PIDSubsystem::SetSetpoint(double setpoint) {
m_controller->SetSetpoint(setpoint);
}
/**
* Adds the given value to the setpoint.
*
* If {@link PIDCommand#SetRange(double, double) SetRange(...)} was used,
* then the bounds will still be honored by this method.
*
* @param deltaSetpoint the change in the setpoint
*/
void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) {
SetSetpoint(GetSetpoint() + deltaSetpoint);
}
/**
* Return the current setpoint.
*
* @return The current setpoint
*/
double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
/**
* Sets the maximum and minimum values expected from the input.
*
* @param minimumInput the minimum value expected from the input
* @param maximumInput the maximum value expected from the output
*/
void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) {
m_controller->SetInputRange(minimumInput, maximumInput);
}
/**
* Sets the maximum and minimum values to write.
*
* @param minimumOutput the minimum value to write to the output
* @param maximumOutput the maximum value to write to the output
*/
void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) {
m_controller->SetOutputRange(minimumOutput, maximumOutput);
}
/**
* Set the absolute error which is considered tolerable for use with
* OnTarget.
*
* @param absValue absolute error which is tolerable
*/
void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
m_controller->SetAbsoluteTolerance(absValue);
}
/**
* Set the percentage error which is considered tolerable for use with OnTarget.
*
* @param percent percentage error which is tolerable
*/
void PIDSubsystem::SetPercentTolerance(double percent) {
m_controller->SetPercentTolerance(percent);
}
/**
* Return true if the error is within the percentage of the total input range,
* determined by SetTolerance.
*
* This asssumes that the maximum and minimum input were set using SetInput.
* Use OnTarget() in the IsFinished() method of commands that use this
* subsystem.
*
* Currently this just reports on target as the actual value passes through the
* setpoint. Ideally it should be based on being within the tolerance for some
* period of time.
*
* @return true if the error is within the percentage tolerance of the input
* range
*/
bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
/**
* Returns the current position.
*
* @return the current position
*/
double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
/**
* Returns the current rate.
*
* @return the current rate
*/
double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
std::string PIDSubsystem::GetSmartDashboardType() const { return "PIDCommand"; }
void PIDSubsystem::InitTable(std::shared_ptr<ITable> subtable) {
m_controller->InitTable(subtable);
Subsystem::InitTable(subtable);
}

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wpilibc/src/main/native/cpp/Commands/PrintCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/PrintCommand.h"
#include "llvm/raw_ostream.h"
using namespace frc;
PrintCommand::PrintCommand(const std::string& message)
: InstantCommand("Print \"" + message + "\"") {
m_message = message;
}
void PrintCommand::Initialize() { llvm::outs() << m_message << "\n"; }

284
wpilibc/src/main/native/cpp/Commands/Scheduler.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/Scheduler.h"
#include <algorithm>
#include <set>
#include "Buttons/ButtonScheduler.h"
#include "Commands/Subsystem.h"
#include "HLUsageReporting.h"
#include "WPIErrors.h"
using namespace frc;
Scheduler::Scheduler() { HLUsageReporting::ReportScheduler(); }
/**
* Returns the {@link Scheduler}, creating it if one does not exist.
*
* @return the {@link Scheduler}
*/
Scheduler* Scheduler::GetInstance() {
static Scheduler instance;
return &instance;
}
void Scheduler::SetEnabled(bool enabled) { m_enabled = enabled; }
/**
* Add a command to be scheduled later.
*
* In any pass through the scheduler, all commands are added to the additions
* list, then at the end of the pass, they are all scheduled.
*
* @param command The command to be scheduled
*/
void Scheduler::AddCommand(Command* command) {
std::lock_guard<hal::priority_mutex> sync(m_additionsLock);
if (std::find(m_additions.begin(), m_additions.end(), command) !=
m_additions.end())
return;
m_additions.push_back(command);
}
void Scheduler::AddButton(ButtonScheduler* button) {
std::lock_guard<hal::priority_mutex> sync(m_buttonsLock);
m_buttons.push_back(button);
}
void Scheduler::ProcessCommandAddition(Command* command) {
if (command == nullptr) return;
// Check to make sure no adding during adding
if (m_adding) {
wpi_setWPIErrorWithContext(IncompatibleState,
"Can not start command from cancel method");
return;
}
// Only add if not already in
auto found = m_commands.find(command);
if (found == m_commands.end()) {
// Check that the requirements can be had
Command::SubsystemSet requirements = command->GetRequirements();
for (Command::SubsystemSet::iterator iter = requirements.begin();
iter != requirements.end(); iter++) {
Subsystem* lock = *iter;
if (lock->GetCurrentCommand() != nullptr &&
!lock->GetCurrentCommand()->IsInterruptible())
return;
}
// Give it the requirements
m_adding = true;
for (Command::SubsystemSet::iterator iter = requirements.begin();
iter != requirements.end(); iter++) {
Subsystem* lock = *iter;
if (lock->GetCurrentCommand() != nullptr) {
lock->GetCurrentCommand()->Cancel();
Remove(lock->GetCurrentCommand());
}
lock->SetCurrentCommand(command);
}
m_adding = false;
m_commands.insert(command);
command->StartRunning();
m_runningCommandsChanged = true;
}
}
/**
* Runs a single iteration of the loop.
*
* This method should be called often in order to have a functioning
* {@link Command} system. The loop has five stages:
*
* <ol>
* <li> Poll the Buttons </li>
* <li> Execute/Remove the Commands </li>
* <li> Send values to SmartDashboard </li>
* <li> Add Commands </li>
* <li> Add Defaults </li>
* </ol>
*/
void Scheduler::Run() {
// Get button input (going backwards preserves button priority)
{
if (!m_enabled) return;
std::lock_guard<hal::priority_mutex> sync(m_buttonsLock);
for (auto rButtonIter = m_buttons.rbegin(); rButtonIter != m_buttons.rend();
rButtonIter++) {
(*rButtonIter)->Execute();
}
}
// Call every subsystem's periodic method
for (auto subsystemIter = m_subsystems.begin();
subsystemIter != m_subsystems.end(); subsystemIter++) {
Subsystem* subsystem = *subsystemIter;
subsystem->Periodic();
}
m_runningCommandsChanged = false;
// Loop through the commands
for (auto commandIter = m_commands.begin();
commandIter != m_commands.end();) {
Command* command = *commandIter;
// Increment before potentially removing to keep the iterator valid
++commandIter;
if (!command->Run()) {
Remove(command);
m_runningCommandsChanged = true;
}
}
// Add the new things
{
std::lock_guard<hal::priority_mutex> sync(m_additionsLock);
for (auto additionsIter = m_additions.begin();
additionsIter != m_additions.end(); additionsIter++) {
ProcessCommandAddition(*additionsIter);
}
m_additions.clear();
}
// Add in the defaults
for (auto subsystemIter = m_subsystems.begin();
subsystemIter != m_subsystems.end(); subsystemIter++) {
Subsystem* lock = *subsystemIter;
if (lock->GetCurrentCommand() == nullptr) {
ProcessCommandAddition(lock->GetDefaultCommand());
}
lock->ConfirmCommand();
}
UpdateTable();
}
/**
* Registers a {@link Subsystem} to this {@link Scheduler}, so that the {@link
* Scheduler} might know if a default {@link Command} needs to be run.
*
* All {@link Subsystem Subsystems} should call this.
*
* @param system the system
*/
void Scheduler::RegisterSubsystem(Subsystem* subsystem) {
if (subsystem == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "subsystem");
return;
}
m_subsystems.insert(subsystem);
}
/**
* Removes the {@link Command} from the {@link Scheduler}.
*
* @param command the command to remove
*/
void Scheduler::Remove(Command* command) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
if (!m_commands.erase(command)) return;
Command::SubsystemSet requirements = command->GetRequirements();
for (auto iter = requirements.begin(); iter != requirements.end(); iter++) {
Subsystem* lock = *iter;
lock->SetCurrentCommand(nullptr);
}
command->Removed();
}
void Scheduler::RemoveAll() {
while (m_commands.size() > 0) {
Remove(*m_commands.begin());
}
}
/**
* Completely resets the scheduler. Undefined behavior if running.
*/
void Scheduler::ResetAll() {
RemoveAll();
m_subsystems.clear();
m_buttons.clear();
m_additions.clear();
m_commands.clear();
m_table = nullptr;
}
/**
* Update the network tables associated with the Scheduler object on the
* SmartDashboard.
*/
void Scheduler::UpdateTable() {
if (m_table != nullptr) {
// Get the list of possible commands to cancel
auto new_toCancel = m_table->GetValue("Cancel");
if (new_toCancel)
toCancel = new_toCancel->GetDoubleArray();
else
toCancel.resize(0);
// m_table->RetrieveValue("Ids", *ids);
// cancel commands that have had the cancel buttons pressed
// on the SmartDashboad
if (!toCancel.empty()) {
for (auto commandIter = m_commands.begin();
commandIter != m_commands.end(); ++commandIter) {
for (size_t i = 0; i < toCancel.size(); i++) {
Command* c = *commandIter;
if (c->GetID() == toCancel[i]) {
c->Cancel();
}
}
}
toCancel.resize(0);
m_table->PutValue("Cancel", nt::Value::MakeDoubleArray(toCancel));
}
// Set the running commands
if (m_runningCommandsChanged) {
commands.resize(0);
ids.resize(0);
for (auto commandIter = m_commands.begin();
commandIter != m_commands.end(); ++commandIter) {
Command* c = *commandIter;
commands.push_back(c->GetName());
ids.push_back(c->GetID());
}
m_table->PutValue("Names", nt::Value::MakeStringArray(commands));
m_table->PutValue("Ids", nt::Value::MakeDoubleArray(ids));
}
}
}
std::string Scheduler::GetName() const { return "Scheduler"; }
std::string Scheduler::GetType() const { return "Scheduler"; }
std::string Scheduler::GetSmartDashboardType() const { return "Scheduler"; }
void Scheduler::InitTable(std::shared_ptr<ITable> subTable) {
m_table = subTable;
m_table->PutValue("Names", nt::Value::MakeStringArray(commands));
m_table->PutValue("Ids", nt::Value::MakeDoubleArray(ids));
m_table->PutValue("Cancel", nt::Value::MakeDoubleArray(toCancel));
}
std::shared_ptr<ITable> Scheduler::GetTable() const { return m_table; }

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wpilibc/src/main/native/cpp/Commands/StartCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/StartCommand.h"
using namespace frc;
StartCommand::StartCommand(Command* commandToStart)
: InstantCommand("StartCommand") {
m_commandToFork = commandToStart;
}
void StartCommand::Initialize() { m_commandToFork->Start(); }

156
wpilibc/src/main/native/cpp/Commands/Subsystem.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/Subsystem.h"
#include "Commands/Command.h"
#include "Commands/Scheduler.h"
#include "WPIErrors.h"
using namespace frc;
/**
* Creates a subsystem with the given name.
*
* @param name the name of the subsystem
*/
Subsystem::Subsystem(const std::string& name) {
m_name = name;
Scheduler::GetInstance()->RegisterSubsystem(this);
}
/**
* Initialize the default command for this subsystem.
*
* This is meant to be the place to call SetDefaultCommand in a subsystem and
* will be called on all the subsystems by the CommandBase method before the
* program starts running by using the list of all registered Subsystems inside
* the Scheduler.
*
* This should be overridden by a Subsystem that has a default Command
*/
void Subsystem::InitDefaultCommand() {}
/**
* Sets the default command. If this is not called or is called with null,
* then there will be no default command for the subsystem.
*
* <p><b>WARNING:</b> This should <b>NOT</b> be called in a constructor if the
* subsystem is a singleton.</p>
*
* @param command the default command (or null if there should be none)
*/
void Subsystem::SetDefaultCommand(Command* command) {
if (command == nullptr) {
m_defaultCommand = nullptr;
} else {
bool found = false;
Command::SubsystemSet requirements = command->GetRequirements();
for (auto iter = requirements.begin(); iter != requirements.end(); iter++) {
if (*iter == this) {
found = true;
break;
}
}
if (!found) {
wpi_setWPIErrorWithContext(
CommandIllegalUse, "A default command must require the subsystem");
return;
}
m_defaultCommand = command;
}
if (m_table != nullptr) {
if (m_defaultCommand != nullptr) {
m_table->PutBoolean("hasDefault", true);
m_table->PutString("default", m_defaultCommand->GetName());
} else {
m_table->PutBoolean("hasDefault", false);
}
}
}
/**
* Returns the default command (or null if there is none).
*
* @return the default command
*/
Command* Subsystem::GetDefaultCommand() {
if (!m_initializedDefaultCommand) {
m_initializedDefaultCommand = true;
InitDefaultCommand();
}
return m_defaultCommand;
}
/**
* Sets the current command.
*
* @param command the new current command
*/
void Subsystem::SetCurrentCommand(Command* command) {
m_currentCommand = command;
m_currentCommandChanged = true;
}
/**
* Returns the command which currently claims this subsystem.
*
* @return the command which currently claims this subsystem
*/
Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }
/**
* When the run method of the scheduler is called this method will be called.
*/
void Subsystem::Periodic() {}
/**
* Call this to alert Subsystem that the current command is actually the
* command.
*
* Sometimes, the {@link Subsystem} is told that it has no command while the
* {@link Scheduler} is going through the loop, only to be soon after given a
* new one. This will avoid that situation.
*/
void Subsystem::ConfirmCommand() {
if (m_currentCommandChanged) {
if (m_table != nullptr) {
if (m_currentCommand != nullptr) {
m_table->PutBoolean("hasCommand", true);
m_table->PutString("command", m_currentCommand->GetName());
} else {
m_table->PutBoolean("hasCommand", false);
}
}
m_currentCommandChanged = false;
}
}
std::string Subsystem::GetName() const { return m_name; }
std::string Subsystem::GetSmartDashboardType() const { return "Subsystem"; }
void Subsystem::InitTable(std::shared_ptr<ITable> subtable) {
m_table = subtable;
if (m_table != nullptr) {
if (m_defaultCommand != nullptr) {
m_table->PutBoolean("hasDefault", true);
m_table->PutString("default", m_defaultCommand->GetName());
} else {
m_table->PutBoolean("hasDefault", false);
}
if (m_currentCommand != nullptr) {
m_table->PutBoolean("hasCommand", true);
m_table->PutString("command", m_currentCommand->GetName());
} else {
m_table->PutBoolean("hasCommand", false);
}
}
}
std::shared_ptr<ITable> Subsystem::GetTable() const { return m_table; }

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wpilibc/src/main/native/cpp/Commands/TimedCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/TimedCommand.h"
using namespace frc;
/**
* Creates a new TimedCommand with the given name and timeout.
*
* @param name the name of the command
* @param timeout the time (in seconds) before this command "times out"
*/
TimedCommand::TimedCommand(const std::string& name, double timeout)
: Command(name, timeout) {}
/**
* Creates a new WaitCommand with the given timeout.
*
* @param timeout the time (in seconds) before this command "times out"
*/
TimedCommand::TimedCommand(double timeout) : Command(timeout) {}
/**
* Ends command when timed out.
*/
bool TimedCommand::IsFinished() { return IsTimedOut(); }

27
wpilibc/src/main/native/cpp/Commands/WaitCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/WaitCommand.h"
using namespace frc;
/**
* Creates a new WaitCommand with the given name and timeout.
*
* @param name the name of the command
* @param timeout the time (in seconds) before this command "times out"
*/
WaitCommand::WaitCommand(double timeout)
: TimedCommand("Wait(" + std::to_string(timeout) + ")", timeout) {}
/**
* Creates a new WaitCommand with the given timeout.
*
* @param timeout the time (in seconds) before this command "times out"
*/
WaitCommand::WaitCommand(const std::string& name, double timeout)
: TimedCommand(name, timeout) {}

22
wpilibc/src/main/native/cpp/Commands/WaitForChildren.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/WaitForChildren.h"
#include "Commands/CommandGroup.h"
using namespace frc;
WaitForChildren::WaitForChildren(double timeout)
: Command("WaitForChildren", timeout) {}
WaitForChildren::WaitForChildren(const std::string& name, double timeout)
: Command(name, timeout) {}
bool WaitForChildren::IsFinished() {
return GetGroup() == nullptr || GetGroup()->GetSize() == 0;
}

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wpilibc/src/main/native/cpp/Commands/WaitUntilCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/WaitUntilCommand.h"
#include "Timer.h"
using namespace frc;
/**
* A {@link WaitCommand} will wait until a certain match time before finishing.
*
* This will wait until the game clock reaches some value, then continue to the
* next command.
* @see CommandGroup
*/
WaitUntilCommand::WaitUntilCommand(double time)
: Command("WaitUntilCommand", time) {
m_time = time;
}
WaitUntilCommand::WaitUntilCommand(const std::string& name, double time)
: Command(name, time) {
m_time = time;
}
/**
* Check if we've reached the actual finish time.
*/
bool WaitUntilCommand::IsFinished() { return Timer::GetMatchTime() >= m_time; }