mirror of
https://github.com/wpilibsuite/allwpilib
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Update to 2018_v4 image and new build system. (#598)
* 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
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
459
wpilibc/src/main/native/cpp/Commands/Command.cpp
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459
wpilibc/src/main/native/cpp/Commands/Command.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2017. 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 "Commands/Command.h"
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#include <typeinfo>
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#include "Commands/CommandGroup.h"
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#include "Commands/Scheduler.h"
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#include "RobotState.h"
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#include "Timer.h"
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#include "WPIErrors.h"
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using namespace frc;
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static const std::string kName = "name";
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static const std::string kRunning = "running";
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static const std::string kIsParented = "isParented";
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int Command::m_commandCounter = 0;
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/**
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* Creates a new command.
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* The name of this command will be default.
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*/
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Command::Command() : Command("", -1.0) {}
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/**
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* Creates a new command with the given name and no timeout.
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*
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* @param name the name for this command
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*/
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Command::Command(const std::string& name) : Command(name, -1.0) {}
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/**
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* Creates a new command with the given timeout and a default name.
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*
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* @param timeout the time (in seconds) before this command "times out"
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* @see Command#isTimedOut() isTimedOut()
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*/
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Command::Command(double timeout) : Command("", timeout) {}
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/**
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* Creates a new command with the given name and timeout.
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*
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* @param name the name of the command
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* @param timeout the time (in seconds) before this command "times out"
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* @see Command#isTimedOut() isTimedOut()
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*/
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Command::Command(const std::string& name, double timeout) {
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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.length() == 0) {
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m_name = std::string("Command_") + std::string(typeid(*this).name());
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} else {
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m_name = name;
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}
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}
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Command::~Command() {
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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}
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/**
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* Get the ID (sequence number) for this command.
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*
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* The ID is a unique sequence number that is incremented for each command.
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*
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* @return the ID of this command
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*/
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int Command::GetID() const { return m_commandID; }
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/**
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* Sets the timeout of this command.
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*
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* @param timeout the timeout (in seconds)
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* @see Command#isTimedOut() isTimedOut()
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*/
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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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/**
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* Returns the time since this command was initialized (in seconds).
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*
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* This function will work even if there is no specified timeout.
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*
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* @return the time since this command was initialized (in seconds).
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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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/**
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* This method specifies that the given {@link Subsystem} is used by this
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* command.
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*
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* This method is crucial to the functioning of the Command System in general.
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*
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* <p>Note that the recommended way to call this method is in the
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* constructor.</p>
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*
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* @param subsystem the {@link Subsystem} required
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* @see Subsystem
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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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/**
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* Called when the command has been removed.
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*
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* This will call {@link Command#interrupted() interrupted()} or
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* {@link Command#end() end()}.
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*/
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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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if (m_table != nullptr) m_table->PutBoolean(kRunning, false);
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}
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/**
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* Starts up the command. Gets the command ready to start.
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*
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* <p>Note that the command will eventually start, however it will not
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* necessarily do so immediately, and may in fact be canceled before initialize
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* is even called.</p>
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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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Scheduler::GetInstance()->AddCommand(this);
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}
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/**
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* The run method is used internally to actually run the commands.
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*
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* @return whether or not the command should stay within the {@link Scheduler}.
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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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/**
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* The initialize method is called the first time this Command is run after
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* being started.
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*/
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void Command::Initialize() {}
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/**
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* The execute method is called repeatedly until this Command either finishes
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* or is canceled.
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*/
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void Command::Execute() {}
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/**
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* Called when the command ended peacefully. This is where you may want
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* to wrap up loose ends, like shutting off a motor that was being used
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* in the command.
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*/
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void Command::End() {}
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/**
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* Called when the command ends because somebody called
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* {@link Command#cancel() cancel()} or another command shared the same
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* requirements as this one, and booted it out.
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*
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* <p>This is where you may want to wrap up loose ends, like shutting off a
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* motor that was being used in the command.</p>
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*
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* <p>Generally, it is useful to simply call the {@link Command#end() end()}
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* method within this method, as done here.</p>
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*/
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void Command::Interrupted() { End(); }
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void Command::_Initialize() {}
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void Command::_Interrupted() {}
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void Command::_Execute() {}
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void Command::_End() {}
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/**
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* Called to indicate that the timer should start.
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*
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* This is called right before {@link Command#initialize() initialize()} is,
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* inside the {@link Command#run() run()} method.
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*/
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void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); }
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/**
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* Returns whether or not the
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* {@link Command#timeSinceInitialized() timeSinceInitialized()} method returns
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* a number which is greater than or equal to the timeout for the command.
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*
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* If there is no timeout, this will always return false.
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*
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* @return whether the time has expired
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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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/**
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* Returns the requirements (as an std::set of {@link Subsystem Subsystems}
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* pointers) of this command.
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*
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* @return the requirements (as an std::set of {@link Subsystem Subsystems}
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* pointers) of this command
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*/
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Command::SubsystemSet Command::GetRequirements() const {
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return m_requirements;
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}
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/**
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* Prevents further changes from being made.
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*/
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void Command::LockChanges() { m_locked = true; }
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/**
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* If changes are locked, then this will generate a CommandIllegalUse error.
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*
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* @param message the message to report on error (it is appended by a default
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* message)
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* @return true if assert passed, false if assert failed
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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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/**
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* Sets the parent of this command. No actual change is made to the group.
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*
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* @param parent the parent
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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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if (m_table != nullptr) {
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m_table->PutBoolean(kIsParented, true);
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}
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}
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}
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/**
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* Clears list of subsystem requirements. This is only used by
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* {@link ConditionalCommand} so cancelling the chosen command works properly in
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* {@link CommandGroup}.
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*/
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void Command::ClearRequirements() { m_requirements.clear(); }
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/**
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* This is used internally to mark that the command has been started.
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*
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* The lifecycle of a command is:
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*
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* startRunning() is called.
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* run() is called (multiple times potentially)
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* removed() is called
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*
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* It is very important that startRunning and removed be called in order or some
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* assumptions of the code will be broken.
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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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if (m_table != nullptr) m_table->PutBoolean(kRunning, true);
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}
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/**
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* Returns whether or not the command is running.
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*
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* This may return true even if the command has just been canceled, as it may
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* not have yet called {@link Command#interrupted()}.
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*
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* @return whether or not the command is running
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*/
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bool Command::IsRunning() const { return m_running; }
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/**
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* This will cancel the current command.
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*
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* <p>This will cancel the current command eventually. It can be called
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* multiple times. And it can be called when the command is not running. If
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* the command is running though, then the command will be marked as canceled
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* and eventually removed.</p>
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*
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* <p>A command can not be canceled if it is a part of a command group, you
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* must cancel the command group instead.</p>
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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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/**
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* This works like cancel(), except that it doesn't throw an exception if it is
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* a part of a command group.
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*
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* Should only be called by the parent command group.
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*/
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void Command::_Cancel() {
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if (IsRunning()) m_canceled = true;
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}
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/**
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* Returns whether or not this has been canceled.
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*
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* @return whether or not this has been canceled
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*/
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bool Command::IsCanceled() const { return m_canceled; }
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/**
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* Returns whether or not this command can be interrupted.
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*
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* @return whether or not this command can be interrupted
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*/
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bool Command::IsInterruptible() const { return m_interruptible; }
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/**
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* Sets whether or not this command can be interrupted.
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*
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* @param interruptible whether or not this command can be interrupted
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*/
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void Command::SetInterruptible(bool interruptible) {
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m_interruptible = interruptible;
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}
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/**
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* Checks if the command requires the given {@link Subsystem}.
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*
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* @param system the system
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* @return whether or not the subsystem is required (false if given nullptr)
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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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/**
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* Returns the {@link CommandGroup} that this command is a part of.
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*
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* Will return null if this {@link Command} is not in a group.
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*
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* @return the {@link CommandGroup} that this command is a part of (or null if
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* not in group)
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*/
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CommandGroup* Command::GetGroup() const { return m_parent; }
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/**
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* Sets whether or not this {@link Command} should run when the robot is
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* disabled.
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*
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* <p>By default a command will not run when the robot is disabled, and will in
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* fact be canceled.</p>
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*
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* @param run whether or not this command should run when the robot is disabled
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*/
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void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
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/**
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* Returns whether or not this {@link Command} will run when the robot is
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* disabled, or if it will cancel itself.
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*
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* @return whether or not this {@link Command} will run when the robot is
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* disabled, or if it will cancel itself
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*/
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bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
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std::string Command::GetName() const { return m_name; }
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std::string Command::GetSmartDashboardType() const { return "Command"; }
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void Command::InitTable(std::shared_ptr<ITable> subtable) {
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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m_table = subtable;
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if (m_table != nullptr) {
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m_table->PutString(kName, GetName());
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m_table->PutBoolean(kRunning, IsRunning());
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m_table->PutBoolean(kIsParented, m_parent != nullptr);
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m_table->AddTableListener(kRunning, this, false);
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}
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}
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std::shared_ptr<ITable> Command::GetTable() const { return m_table; }
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void Command::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsBoolean()) return;
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if (value->GetBoolean()) {
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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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