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Add format script which invokes clang-format on the C++ source code (#41)

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On Windows machines, clang-format.exe must be in the PATH environment variable.
This commit is contained in:
Tyler Veness
2016-05-20 17:30:37 -07:00
committed by Peter Johnson
parent 68690643d2
commit e14e45da76
383 changed files with 13787 additions and 13198 deletions
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33
wpilibc/shared/src/Buttons/Button.cpp
View File

@@ -8,34 +8,41 @@
#include "Buttons/Button.h"
/**
* Specifies the command to run when a button is first pressed
* Specifies the command to run when a button is first pressed.
*
* @param command The pointer to the command to run
*/
void Button::WhenPressed(Command *command) { WhenActive(command); }
void Button::WhenPressed(Command* command) { WhenActive(command); }
/**
* Specifies the command to be scheduled while the button is pressed
* Specifies the command to be scheduled while the button is pressed.
*
* The command will be scheduled repeatedly while the button is pressed and will
* be canceled when the button is released.
*
* @param command The pointer to the command to run
*/
void Button::WhileHeld(Command *command) { WhileActive(command); }
void Button::WhileHeld(Command* command) { WhileActive(command); }
/**
* Specifies the command to run when the button is released
* Specifies the command to run when the button is released.
*
* The command will be scheduled a single time.
* @param The pointer to the command to run
*
* @param command The pointer to the command to run
*/
void Button::WhenReleased(Command *command) { WhenInactive(command); }
void Button::WhenReleased(Command* command) { WhenInactive(command); }
/**
* Cancels the specificed command when the button is pressed
* @param The command to be canceled
* Cancels the specificed command when the button is pressed.
*
* @param command The command to be canceled
*/
void Button::CancelWhenPressed(Command *command) { CancelWhenActive(command); }
void Button::CancelWhenPressed(Command* command) { CancelWhenActive(command); }
/**
* Toggle the specified command when the button is pressed
* @param The command to be toggled
* Toggle the specified command when the button is pressed.
*
* @param command The command to be toggled
*/
void Button::ToggleWhenPressed(Command *command) { ToggleWhenActive(command); }
void Button::ToggleWhenPressed(Command* command) { ToggleWhenActive(command); }

2
wpilibc/shared/src/Buttons/ButtonScheduler.cpp
View File

@@ -9,7 +9,7 @@
#include "Commands/Scheduler.h"
ButtonScheduler::ButtonScheduler(bool last, Trigger *button, Command *orders)
ButtonScheduler::ButtonScheduler(bool last, Trigger* button, Command* orders)
: m_pressedLast(last), m_button(button), m_command(orders) {}
void ButtonScheduler::Start() { Scheduler::GetInstance()->AddButton(this); }

4
wpilibc/shared/src/Buttons/CancelButtonScheduler.cpp
View File

@@ -10,8 +10,8 @@
#include "Buttons/Button.h"
#include "Commands/Command.h"
CancelButtonScheduler::CancelButtonScheduler(bool last, Trigger *button,
Command *orders)
CancelButtonScheduler::CancelButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {
pressedLast = m_button->Grab();
}

4
wpilibc/shared/src/Buttons/HeldButtonScheduler.cpp
View File

@@ -10,8 +10,8 @@
#include "Buttons/Button.h"
#include "Commands/Command.h"
HeldButtonScheduler::HeldButtonScheduler(bool last, Trigger *button,
Command *orders)
HeldButtonScheduler::HeldButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void HeldButtonScheduler::Execute() {

2
wpilibc/shared/src/Buttons/JoystickButton.cpp
View File

@@ -7,7 +7,7 @@
#include "Buttons/JoystickButton.h"
JoystickButton::JoystickButton(GenericHID *joystick, int buttonNumber)
JoystickButton::JoystickButton(GenericHID* joystick, int buttonNumber)
: m_joystick(joystick), m_buttonNumber(buttonNumber) {}
bool JoystickButton::Get() { return m_joystick->GetRawButton(m_buttonNumber); }

6
wpilibc/shared/src/Buttons/NetworkButton.cpp
View File

@@ -8,12 +8,14 @@
#include "Buttons/NetworkButton.h"
#include "networktables/NetworkTable.h"
NetworkButton::NetworkButton(const std::string &tableName, const std::string &field)
NetworkButton::NetworkButton(const std::string& tableName,
const std::string& field)
: // TODO how is this supposed to work???
m_netTable(NetworkTable::GetTable(tableName)),
m_field(field) {}
NetworkButton::NetworkButton(std::shared_ptr<ITable> table, const std::string &field)
NetworkButton::NetworkButton(std::shared_ptr<ITable> table,
const std::string& field)
: m_netTable(table), m_field(field) {}
bool NetworkButton::Get() {

4
wpilibc/shared/src/Buttons/PressedButtonScheduler.cpp
View File

@@ -10,8 +10,8 @@
#include "Buttons/Button.h"
#include "Commands/Command.h"
PressedButtonScheduler::PressedButtonScheduler(bool last, Trigger *button,
Command *orders)
PressedButtonScheduler::PressedButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void PressedButtonScheduler::Execute() {

4
wpilibc/shared/src/Buttons/ReleasedButtonScheduler.cpp
View File

@@ -10,8 +10,8 @@
#include "Buttons/Button.h"
#include "Commands/Command.h"
ReleasedButtonScheduler::ReleasedButtonScheduler(bool last, Trigger *button,
Command *orders)
ReleasedButtonScheduler::ReleasedButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {}
void ReleasedButtonScheduler::Execute() {

4
wpilibc/shared/src/Buttons/ToggleButtonScheduler.cpp
View File

@@ -10,8 +10,8 @@
#include "Buttons/Button.h"
#include "Commands/Command.h"
ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger *button,
Command *orders)
ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {
pressedLast = m_button->Grab();
}

12
wpilibc/shared/src/Buttons/Trigger.cpp
View File

@@ -7,11 +7,11 @@
#include "Buttons/Button.h"
#include "Buttons/CancelButtonScheduler.h"
#include "Buttons/HeldButtonScheduler.h"
#include "Buttons/PressedButtonScheduler.h"
#include "Buttons/ReleasedButtonScheduler.h"
#include "Buttons/ToggleButtonScheduler.h"
#include "Buttons/CancelButtonScheduler.h"
bool Trigger::Grab() {
if (Get())
@@ -25,27 +25,27 @@ bool Trigger::Grab() {
return false;
}
void Trigger::WhenActive(Command *command) {
void Trigger::WhenActive(Command* command) {
auto pbs = new PressedButtonScheduler(Grab(), this, command);
pbs->Start();
}
void Trigger::WhileActive(Command *command) {
void Trigger::WhileActive(Command* command) {
auto hbs = new HeldButtonScheduler(Grab(), this, command);
hbs->Start();
}
void Trigger::WhenInactive(Command *command) {
void Trigger::WhenInactive(Command* command) {
auto rbs = new ReleasedButtonScheduler(Grab(), this, command);
rbs->Start();
}
void Trigger::CancelWhenActive(Command *command) {
void Trigger::CancelWhenActive(Command* command) {
auto cbs = new CancelButtonScheduler(Grab(), this, command);
cbs->Start();
}
void Trigger::ToggleWhenActive(Command *command) {
void Trigger::ToggleWhenActive(Command* command) {
auto tbs = new ToggleButtonScheduler(Grab(), this, command);
tbs->Start();
}

112
wpilibc/shared/src/Commands/Command.cpp
View File

@@ -6,12 +6,12 @@
/*----------------------------------------------------------------------------*/
#include "Commands/Command.h"
#include <typeinfo>
#include "Commands/CommandGroup.h"
#include "Commands/Scheduler.h"
#include "RobotState.h"
#include "Timer.h"
#include "WPIErrors.h"
#include <typeinfo>
static const std::string kName = "name";
static const std::string kRunning = "running";
@@ -27,12 +27,14 @@ 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) {}
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()
*/
@@ -40,11 +42,12 @@ Command::Command(double timeout) : Command("", timeout) {}
/**
* Creates a new command with the given name and timeout.
* @param name the name of the command
*
* @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) {
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");
@@ -54,8 +57,7 @@ Command::Command(const std::string &name, double timeout) {
// If name contains an empty string
if (name.length() == 0) {
m_name = std::string("Command_") + std::string(typeid(*this).name());
}
else {
} else {
m_name = name;
}
}
@@ -65,14 +67,17 @@ Command::~Command() {
}
/**
* Get the ID (sequence number) for this command
* 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()
*/
@@ -85,7 +90,9 @@ void Command::SetTimeout(double 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 {
@@ -98,6 +105,7 @@ double Command::TimeSinceInitialized() const {
/**
* 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
@@ -106,7 +114,7 @@ double Command::TimeSinceInitialized() const {
* @param subsystem the {@link Subsystem} required
* @see Subsystem
*/
void Command::Requires(Subsystem *subsystem) {
void Command::Requires(Subsystem* subsystem) {
if (!AssertUnlocked("Can not add new requirement to command")) return;
if (subsystem != nullptr)
@@ -117,8 +125,9 @@ void Command::Requires(Subsystem *subsystem) {
/**
* Called when the command has been removed.
* This will call {@link Command#interrupted() interrupted()} or {@link
* Command#end() end()}.
*
* This will call {@link Command#interrupted() interrupted()} or
* {@link Command#end() end()}.
*/
void Command::Removed() {
if (m_initialized) {
@@ -138,10 +147,10 @@ void Command::Removed() {
/**
* 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>
* necessarily do so immediately, and may in fact be canceled before initialize
* is even called.</p>
*/
void Command::Start() {
LockChanges();
@@ -155,6 +164,7 @@ void Command::Start() {
/**
* 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() {
@@ -184,18 +194,19 @@ 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.
* 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.
* 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 {
@@ -204,28 +215,31 @@ bool Command::IsTimedOut() const {
/**
* Returns the requirements (as an std::set of {@link Subsystem Subsystems}
* pointers) of this command
* pointers) of this command.
*
* @return the requirements (as an std::set of {@link Subsystem Subsystems}
* pointers) of this command
* pointers) of this command
*/
Command::SubsystemSet Command::GetRequirements() const {
return m_requirements;
}
/**
* Prevents further changes from being made
* 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)
* message)
* @return true if assert passed, false if assert failed
*/
bool Command::AssertUnlocked(const std::string &message) {
bool Command::AssertUnlocked(const std::string& message) {
if (m_locked) {
std::string buf = message + " after being started or being added to a command group";
std::string buf =
message + " after being started or being added to a command group";
wpi_setWPIErrorWithContext(CommandIllegalUse, buf);
return false;
}
@@ -234,9 +248,10 @@ bool Command::AssertUnlocked(const std::string &message) {
/**
* Sets the parent of this command. No actual change is made to the group.
*
* @param parent the parent
*/
void Command::SetParent(CommandGroup *parent) {
void Command::SetParent(CommandGroup* parent) {
if (parent == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "parent");
} else if (m_parent != nullptr) {
@@ -254,6 +269,7 @@ void Command::SetParent(CommandGroup *parent) {
/**
* This is used internally to mark that the command has been started.
*
* The lifecycle of a command is:
*
* startRunning() is called.
@@ -261,8 +277,7 @@ void Command::SetParent(CommandGroup *parent) {
* removed() is called
*
* It is very important that startRunning and removed be called in order or some
* assumptions
* of the code will be broken.
* assumptions of the code will be broken.
*/
void Command::StartRunning() {
m_running = true;
@@ -272,22 +287,24 @@ void Command::StartRunning() {
/**
* 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>
* 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)
@@ -300,8 +317,9 @@ void Command::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.
* a part of a command group.
*
* Should only be called by the parent command group.
*/
void Command::_Cancel() {
if (IsRunning()) m_canceled = true;
@@ -309,18 +327,21 @@ void Command::_Cancel() {
/**
* 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) {
@@ -329,20 +350,23 @@ void Command::SetInterruptible(bool 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 {
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)
* not in group)
*/
CommandGroup *Command::GetGroup() const { return m_parent; }
CommandGroup* Command::GetGroup() const { return m_parent; }
/**
* Sets whether or not this {@link Command} should run when the robot is
@@ -350,6 +374,7 @@ CommandGroup *Command::GetGroup() const { return m_parent; }
*
* <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; }
@@ -357,14 +382,13 @@ 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
* 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::GetName() const { return m_name; }
std::string Command::GetSmartDashboardType() const { return "Command"; }

98
wpilibc/shared/src/Commands/CommandGroup.cpp
View File

@@ -12,24 +12,21 @@
* 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) {}
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}.
* 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>
* 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) {
void CommandGroup::AddSequential(Command* command) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
@@ -53,23 +50,19 @@ void CommandGroup::AddSequential(Command *command) {
* 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>
* 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>
* 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) {
void CommandGroup::AddSequential(Command* command, double timeout) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
@@ -93,30 +86,24 @@ void CommandGroup::AddSequential(Command *command, double timeout) {
/**
* Adds a new child {@link Command} to the group. The {@link Command} will be
* started after
* all the previously added {@link Command Commands}.
* 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>
* 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>
* 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) {
void CommandGroup::AddParallel(Command* command) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
@@ -136,38 +123,31 @@ void CommandGroup::AddParallel(Command *command) {
/**
* 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}.
* {@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>
* 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>
* 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>
* 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) {
void CommandGroup::AddParallel(Command* command, double timeout) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
@@ -193,7 +173,7 @@ void CommandGroup::_Initialize() { m_currentCommandIndex = -1; }
void CommandGroup::_Execute() {
CommandGroupEntry entry;
Command *cmd = nullptr;
Command* cmd = nullptr;
bool firstRun = false;
if (m_currentCommandIndex == -1) {
@@ -247,7 +227,7 @@ void CommandGroup::_Execute() {
auto iter = m_children.begin();
for (; iter != m_children.end();) {
entry = *iter;
Command *child = entry.m_command;
Command* child = entry.m_command;
if (entry.IsTimedOut()) child->_Cancel();
if (!child->Run()) {
@@ -264,14 +244,14 @@ void CommandGroup::_End() {
// IsFinished method
if (m_currentCommandIndex != -1 &&
(unsigned)m_currentCommandIndex < m_commands.size()) {
Command *cmd = m_commands[m_currentCommandIndex].m_command;
Command* cmd = m_commands[m_currentCommandIndex].m_command;
cmd->_Cancel();
cmd->Removed();
}
auto iter = m_children.begin();
for (; iter != m_children.end(); iter++) {
Command *cmd = iter->m_command;
Command* cmd = iter->m_command;
cmd->_Cancel();
cmd->Removed();
}
@@ -302,7 +282,7 @@ bool CommandGroup::IsInterruptible() const {
if (m_currentCommandIndex != -1 &&
(unsigned)m_currentCommandIndex < m_commands.size()) {
Command *cmd = m_commands[m_currentCommandIndex].m_command;
Command* cmd = m_commands[m_currentCommandIndex].m_command;
if (!cmd->IsInterruptible()) return false;
}
@@ -314,10 +294,10 @@ bool CommandGroup::IsInterruptible() const {
return true;
}
void CommandGroup::CancelConflicts(Command *command) {
void CommandGroup::CancelConflicts(Command* command) {
auto childIter = m_children.begin();
for (; childIter != m_children.end();) {
Command *child = childIter->m_command;
Command* child = childIter->m_command;
bool erased = false;
Command::SubsystemSet requirements = command->GetRequirements();

2
wpilibc/shared/src/Commands/CommandGroupEntry.cpp
View File

@@ -9,7 +9,7 @@
#include "Commands/Command.h"
CommandGroupEntry::CommandGroupEntry(Command *command, Sequence state,
CommandGroupEntry::CommandGroupEntry(Command* command, Sequence state,
double timeout)
: m_timeout(timeout), m_command(command), m_state(state) {}

11
wpilibc/shared/src/Commands/PIDCommand.cpp
View File

@@ -9,22 +9,23 @@
#include "float.h"
PIDCommand::PIDCommand(const std::string &name, double p, double i, double d, double f,
double period)
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);
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)
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,
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);

124
wpilibc/shared/src/Commands/PIDSubsystem.cpp
View File

@@ -12,12 +12,14 @@
/**
* 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 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)
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);
}
@@ -25,39 +27,46 @@ PIDSubsystem::PIDSubsystem(const std::string &name, double p, double i, double d
/**
* 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
* @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)
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
* 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)
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);
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
@@ -70,7 +79,9 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d)
/**
* 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
@@ -84,33 +95,36 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
/**
* 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
*
* 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 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);
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
/**
* Enables the internal {@link PIDController}
* Enables the internal {@link PIDController}.
*/
void PIDSubsystem::Enable() { m_controller->Enable(); }
/**
* Disables the internal {@link PIDController}
* 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}
@@ -120,11 +134,11 @@ std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
}
/**
* 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.
* 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) {
@@ -133,8 +147,10 @@ void PIDSubsystem::SetSetpoint(double 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) {
@@ -142,7 +158,8 @@ void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) {
}
/**
* Return the current setpoint
* Return the current setpoint.
*
* @return The current setpoint
*/
double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
@@ -167,49 +184,52 @@ void PIDSubsystem::SetOutputRange(float minimumOutput, float maximumOutput) {
m_controller->SetOutputRange(minimumOutput, maximumOutput);
}
/*
/**
* Set the absolute error which is considered tolerable for use with
* OnTarget.
* @param percentage error which is tolerable
*
* @param absValue absolute error which is tolerable
*/
void PIDSubsystem::SetAbsoluteTolerance(float absValue) {
m_controller->SetAbsoluteTolerance(absValue);
}
/*
* Set the percentage error which is considered tolerable for use with
* OnTarget.
* @param percentage error which is tolerable
/**
* Set the percentage error which is considered tolerable for use with OnTarget.
*
* @param percent percentage error which is tolerable
*/
void PIDSubsystem::SetPercentTolerance(float 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.
* 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.
* 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
* range
*/
bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
/**
* Returns the current position
* Returns the current position.
*
* @return the current position
*/
double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
/**
* Returns the current rate
* Returns the current rate.
*
* @return the current rate
*/
double PIDSubsystem::GetRate() { return ReturnPIDInput(); }

8
wpilibc/shared/src/Commands/PrintCommand.cpp
View File

@@ -6,12 +6,12 @@
/*----------------------------------------------------------------------------*/
#include "Commands/PrintCommand.h"
#include "stdio.h"
#include <sstream>
#include "stdio.h"
PrintCommand::PrintCommand(const std::string &message)
: Command(((std::stringstream &)(std::stringstream("Print \"") << message
<< "\""))
PrintCommand::PrintCommand(const std::string& message)
: Command(((std::stringstream&)(std::stringstream("Print \"") << message
<< "\""))
.str()
.c_str()) {
m_message = message;

57
wpilibc/shared/src/Commands/Scheduler.cpp
View File

@@ -7,23 +7,22 @@
#include "Commands/Scheduler.h"
#include <algorithm>
#include <iostream>
#include <set>
#include "Buttons/ButtonScheduler.h"
#include "Commands/Subsystem.h"
#include "HLUsageReporting.h"
#include "WPIErrors.h"
#include <iostream>
#include <set>
#include <algorithm>
Scheduler::Scheduler() {
HLUsageReporting::ReportScheduler();
}
Scheduler::Scheduler() { HLUsageReporting::ReportScheduler(); }
/**
* Returns the {@link Scheduler}, creating it if one does not exist.
*
* @return the {@link Scheduler}
*/
Scheduler *Scheduler::GetInstance() {
Scheduler* Scheduler::GetInstance() {
static Scheduler instance;
return &instance;
}
@@ -32,12 +31,13 @@ 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.
* list, then at the end of the pass, they are all scheduled.
*
* @param command The command to be scheduled
*/
void Scheduler::AddCommand(Command *command) {
void Scheduler::AddCommand(Command* command) {
std::lock_guard<priority_mutex> sync(m_additionsLock);
if (std::find(m_additions.begin(), m_additions.end(), command) !=
m_additions.end())
@@ -45,12 +45,12 @@ void Scheduler::AddCommand(Command *command) {
m_additions.push_back(command);
}
void Scheduler::AddButton(ButtonScheduler *button) {
void Scheduler::AddButton(ButtonScheduler* button) {
std::lock_guard<priority_mutex> sync(m_buttonsLock);
m_buttons.push_back(button);
}
void Scheduler::ProcessCommandAddition(Command *command) {
void Scheduler::ProcessCommandAddition(Command* command) {
if (command == nullptr) return;
// Check to make sure no adding during adding
@@ -67,7 +67,7 @@ void Scheduler::ProcessCommandAddition(Command *command) {
Command::SubsystemSet requirements = command->GetRequirements();
Command::SubsystemSet::iterator iter;
for (iter = requirements.begin(); iter != requirements.end(); iter++) {
Subsystem *lock = *iter;
Subsystem* lock = *iter;
if (lock->GetCurrentCommand() != nullptr &&
!lock->GetCurrentCommand()->IsInterruptible())
return;
@@ -76,7 +76,7 @@ void Scheduler::ProcessCommandAddition(Command *command) {
// Give it the requirements
m_adding = true;
for (iter = requirements.begin(); iter != requirements.end(); iter++) {
Subsystem *lock = *iter;
Subsystem* lock = *iter;
if (lock->GetCurrentCommand() != nullptr) {
lock->GetCurrentCommand()->Cancel();
Remove(lock->GetCurrentCommand());
@@ -93,8 +93,9 @@ void Scheduler::ProcessCommandAddition(Command *command) {
}
/**
* Runs a single iteration of the loop. This method should be called often in
* order to have a functioning
* 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>
@@ -122,7 +123,7 @@ void Scheduler::Run() {
// Loop through the commands
auto commandIter = m_commands.begin();
for (; commandIter != m_commands.end();) {
Command *command = *commandIter;
Command* command = *commandIter;
// Increment before potentially removing to keep the iterator valid
commandIter++;
if (!command->Run()) {
@@ -144,7 +145,7 @@ void Scheduler::Run() {
// Add in the defaults
auto subsystemIter = m_subsystems.begin();
for (; subsystemIter != m_subsystems.end(); subsystemIter++) {
Subsystem *lock = *subsystemIter;
Subsystem* lock = *subsystemIter;
if (lock->GetCurrentCommand() == nullptr) {
ProcessCommandAddition(lock->GetDefaultCommand());
}
@@ -156,12 +157,13 @@ void Scheduler::Run() {
/**
* 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.
* 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) {
void Scheduler::RegisterSubsystem(Subsystem* subsystem) {
if (subsystem == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "subsystem");
return;
@@ -171,9 +173,10 @@ void Scheduler::RegisterSubsystem(Subsystem *subsystem) {
/**
* Removes the {@link Command} from the {@link Scheduler}.
*
* @param command the command to remove
*/
void Scheduler::Remove(Command *command) {
void Scheduler::Remove(Command* command) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
@@ -184,7 +187,7 @@ void Scheduler::Remove(Command *command) {
Command::SubsystemSet requirements = command->GetRequirements();
auto iter = requirements.begin();
for (; iter != requirements.end(); iter++) {
Subsystem *lock = *iter;
Subsystem* lock = *iter;
lock->SetCurrentCommand(nullptr);
}
@@ -211,7 +214,7 @@ void Scheduler::ResetAll() {
/**
* Update the network tables associated with the Scheduler object on the
* SmartDashboard
* SmartDashboard.
*/
void Scheduler::UpdateTable() {
CommandSet::iterator commandIter;
@@ -230,7 +233,7 @@ void Scheduler::UpdateTable() {
for (commandIter = m_commands.begin(); commandIter != m_commands.end();
++commandIter) {
for (unsigned i = 0; i < toCancel.size(); i++) {
Command *c = *commandIter;
Command* c = *commandIter;
if (c->GetID() == toCancel[i]) {
c->Cancel();
}
@@ -246,7 +249,7 @@ void Scheduler::UpdateTable() {
ids.resize(0);
for (commandIter = m_commands.begin(); commandIter != m_commands.end();
++commandIter) {
Command *c = *commandIter;
Command* c = *commandIter;
commands.push_back(c->GetName());
ids.push_back(c->GetID());
}

2
wpilibc/shared/src/Commands/StartCommand.cpp
View File

@@ -7,7 +7,7 @@
#include "Commands/StartCommand.h"
StartCommand::StartCommand(Command *commandToStart) : Command("StartCommand") {
StartCommand::StartCommand(Command* commandToStart) : Command("StartCommand") {
m_commandToFork = commandToStart;
}

37
wpilibc/shared/src/Commands/Subsystem.cpp
View File

@@ -12,20 +12,21 @@
#include "WPIErrors.h"
/**
* Creates a subsystem with the given name
* Creates a subsystem with the given name.
*
* @param name the name of the subsystem
*/
Subsystem::Subsystem(const std::string &name) {
Subsystem::Subsystem(const std::string& name) {
m_name = name;
Scheduler::GetInstance()->RegisterSubsystem(this);
}
/**
* Initialize the default command for this subsystem
* 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.
* 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
*/
@@ -36,12 +37,11 @@ void Subsystem::InitDefaultCommand() {}
* 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>
* subsystem is a singleton.</p>
*
* @param command the default command (or null if there should be none)
*/
void Subsystem::SetDefaultCommand(Command *command) {
void Subsystem::SetDefaultCommand(Command* command) {
if (command == nullptr) {
m_defaultCommand = nullptr;
} else {
@@ -75,9 +75,10 @@ void Subsystem::SetDefaultCommand(Command *command) {
/**
* Returns the default command (or null if there is none).
*
* @return the default command
*/
Command *Subsystem::GetDefaultCommand() {
Command* Subsystem::GetDefaultCommand() {
if (!m_initializedDefaultCommand) {
m_initializedDefaultCommand = true;
InitDefaultCommand();
@@ -86,27 +87,29 @@ Command *Subsystem::GetDefaultCommand() {
}
/**
* Sets the current command
* Sets the current command.
*
* @param command the new current command
*/
void Subsystem::SetCurrentCommand(Command *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; }
Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }
/**
* 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.
* {@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) {

4
wpilibc/shared/src/Commands/WaitCommand.cpp
View File

@@ -10,12 +10,12 @@
WaitCommand::WaitCommand(double timeout)
: Command(
((std::stringstream &)(std::stringstream("Wait(") << timeout << ")"))
((std::stringstream&)(std::stringstream("Wait(") << timeout << ")"))
.str()
.c_str(),
timeout) {}
WaitCommand::WaitCommand(const std::string &name, double timeout)
WaitCommand::WaitCommand(const std::string& name, double timeout)
: Command(name, timeout) {}
void WaitCommand::Initialize() {}

2
wpilibc/shared/src/Commands/WaitForChildren.cpp
View File

@@ -11,7 +11,7 @@
WaitForChildren::WaitForChildren(double timeout)
: Command("WaitForChildren", timeout) {}
WaitForChildren::WaitForChildren(const std::string &name, double timeout)
WaitForChildren::WaitForChildren(const std::string& name, double timeout)
: Command(name, timeout) {}
void WaitForChildren::Initialize() {}

3
wpilibc/shared/src/Commands/WaitUntilCommand.cpp
View File

@@ -10,6 +10,7 @@
/**
* 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
@@ -19,7 +20,7 @@ WaitUntilCommand::WaitUntilCommand(double time)
m_time = time;
}
WaitUntilCommand::WaitUntilCommand(const std::string &name, double time)
WaitUntilCommand::WaitUntilCommand(const std::string& name, double time)
: Command(name, time) {
m_time = time;
}

17
wpilibc/shared/src/Error.cpp
View File

@@ -7,11 +7,11 @@
#include "Error.h"
#include <stdint.h>
#include <cstdlib>
#include <cstring>
#include <iostream>
#include <sstream>
#include <cstring>
#include <cstdlib>
#include <stdint.h>
#include "DriverStation.h"
#include "Timer.h"
@@ -70,12 +70,13 @@ void Error::Report() {
locStream << m_function << " [";
#if defined(_WIN32)
const int MAX_DIR = 100;
char basename[MAX_DIR];
_splitpath_s(m_filename.c_str(), NULL, 0, basename, MAX_DIR, NULL, 0, NULL, 0);
locStream << basename;
const int MAX_DIR = 100;
char basename[MAX_DIR];
_splitpath_s(m_filename.c_str(), NULL, 0, basename, MAX_DIR, NULL, 0, NULL,
0);
locStream << basename;
#else
locStream << basename(m_filename.c_str());
locStream << basename(m_filename.c_str());
#endif
locStream << ":" << m_lineNumber << "]";

54
wpilibc/shared/src/ErrorBase.cpp
View File

@@ -10,8 +10,8 @@
#include "WPIErrors.h"
#include <errno.h>
#include <cstring>
#include <cstdio>
#include <cstring>
#include <sstream>
priority_mutex ErrorBase::_globalErrorMutex;
@@ -35,9 +35,9 @@ void ErrorBase::ClearError() const { m_error.Clear(); }
* error to the "errno" global variable.
*
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetErrnoError(llvm::StringRef contextMessage,
llvm::StringRef filename,
@@ -55,7 +55,7 @@ void ErrorBase::SetErrnoError(llvm::StringRef contextMessage,
err = buf;
}
// Set the current error information for this object.
// Set the current error information for this object.
m_error.Set(-1, err, filename, function, lineNumber, this);
// Update the global error if there is not one already set.
@@ -69,21 +69,21 @@ void ErrorBase::SetErrnoError(llvm::StringRef contextMessage,
* @brief Set the current error information associated from the nivision Imaq
* API.
*
* @param success The return from the function
* @param success The return from the function
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetImaqError(int success, llvm::StringRef contextMessage,
llvm::StringRef filename, llvm::StringRef function,
uint32_t lineNumber) const {
// If there was an error
// If there was an error
if (success <= 0) {
std::stringstream err;
err << success << ": " << contextMessage;
// Set the current error information for this object.
// Set the current error information for this object.
m_error.Set(success, err.str(), filename, function, lineNumber, this);
// Update the global error if there is not one already set.
@@ -97,11 +97,11 @@ void ErrorBase::SetImaqError(int success, llvm::StringRef contextMessage,
/**
* @brief Set the current error information associated with this sensor.
*
* @param code The error code
* @param code The error code
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetError(Error::Code code, llvm::StringRef contextMessage,
llvm::StringRef filename, llvm::StringRef function,
@@ -122,11 +122,11 @@ void ErrorBase::SetError(Error::Code code, llvm::StringRef contextMessage,
/**
* @brief Set the current error information associated with this sensor.
*
* @param errorMessage The error message from WPIErrors.h
* @param errorMessage The error message from WPIErrors.h
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetWPIError(llvm::StringRef errorMessage, Error::Code code,
llvm::StringRef contextMessage,
@@ -149,20 +149,20 @@ void ErrorBase::CloneError(const ErrorBase& rhs) const {
}
/**
@brief Check if the current error code represents a fatal error.
@return true if the current error is fatal.
*/
* @brief Check if the current error code represents a fatal error.
*
* @return true if the current error is fatal.
*/
bool ErrorBase::StatusIsFatal() const { return m_error.GetCode() < 0; }
void ErrorBase::SetGlobalError(Error::Code code, llvm::StringRef contextMessage,
llvm::StringRef filename,
llvm::StringRef function, uint32_t lineNumber) {
// If there was an error
// If there was an error
if (code != 0) {
std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
// Set the current error information for this object.
// Set the current error information for this object.
_globalError.Set(code, contextMessage, filename, function, lineNumber,
nullptr);
}
@@ -183,8 +183,8 @@ void ErrorBase::SetGlobalWPIError(llvm::StringRef errorMessage,
}
/**
* Retrieve the current global error.
*/
* Retrieve the current global error.
*/
Error& ErrorBase::GetGlobalError() {
std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
return _globalError;

8
wpilibc/shared/src/Filters/Filter.cpp
View File

@@ -7,9 +7,7 @@
#include "Filters/Filter.h"
Filter::Filter(std::shared_ptr<PIDSource> source) {
m_source = source;
}
Filter::Filter(std::shared_ptr<PIDSource> source) { m_source = source; }
void Filter::SetPIDSourceType(PIDSourceType pidSource) {
m_source->SetPIDSourceType(pidSource);
@@ -19,6 +17,4 @@ PIDSourceType Filter::GetPIDSourceType() const {
return m_source->GetPIDSourceType();
}
double Filter::PIDGetSource() {
return m_source->PIDGet();
}
double Filter::PIDGetSource() { return m_source->PIDGet(); }

78
wpilibc/shared/src/Filters/LinearDigitalFilter.cpp
View File

@@ -10,56 +10,68 @@
#include <cmath>
/**
* Create a linear FIR or IIR filter
* Create a linear FIR or IIR filter.
*
* @param source The PIDSource object that is used to get values
* @param source The PIDSource object that is used to get values
* @param ffGains The "feed forward" or FIR gains
* @param fbGains The "feed back" or IIR gains
*/
LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
std::initializer_list<double> ffGains,
std::initializer_list<double> fbGains) :
Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
m_inputGains(ffGains), m_outputGains(fbGains) {}
std::initializer_list<double> fbGains)
: Filter(source),
m_inputs(ffGains.size()),
m_outputs(fbGains.size()),
m_inputGains(ffGains),
m_outputGains(fbGains) {}
/**
* Create a linear FIR or IIR filter
* Create a linear FIR or IIR filter.
*
* @param source The PIDSource object that is used to get values
* @param source The PIDSource object that is used to get values
* @param ffGains The "feed forward" or FIR gains
* @param fbGains The "feed back" or IIR gains
*/
LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
std::initializer_list<double> ffGains,
const std::vector<double>& fbGains) :
Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
m_inputGains(ffGains), m_outputGains(fbGains) {}
const std::vector<double>& fbGains)
: Filter(source),
m_inputs(ffGains.size()),
m_outputs(fbGains.size()),
m_inputGains(ffGains),
m_outputGains(fbGains) {}
/**
* Create a linear FIR or IIR filter
* Create a linear FIR or IIR filter.
*
* @param source The PIDSource object that is used to get values
* @param source The PIDSource object that is used to get values
* @param ffGains The "feed forward" or FIR gains
* @param fbGains The "feed back" or IIR gains
*/
LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
const std::vector<double>& ffGains,
std::initializer_list<double> fbGains) :
Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
m_inputGains(ffGains), m_outputGains(fbGains) {}
std::initializer_list<double> fbGains)
: Filter(source),
m_inputs(ffGains.size()),
m_outputs(fbGains.size()),
m_inputGains(ffGains),
m_outputGains(fbGains) {}
/**
* Create a linear FIR or IIR filter
* Create a linear FIR or IIR filter.
*
* @param source The PIDSource object that is used to get values
* @param source The PIDSource object that is used to get values
* @param ffGains The "feed forward" or FIR gains
* @param fbGains The "feed back" or IIR gains
*/
LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
const std::vector<double>& ffGains,
const std::vector<double>& fbGains) :
Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
m_inputGains(ffGains), m_outputGains(fbGains) {}
const std::vector<double>& fbGains)
: Filter(source),
m_inputs(ffGains.size()),
m_outputs(fbGains.size()),
m_inputGains(ffGains),
m_outputGains(fbGains) {}
/**
* Creates a one-pole IIR low-pass filter of the form:
@@ -68,13 +80,12 @@ LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
*
* This filter is stable for time constants greater than zero
*
* @param source The PIDSource object that is used to get values
* @param source The PIDSource object that is used to get values
* @param timeConstant The discrete-time time constant in seconds
* @param period The period in seconds between samples taken by the user
* @param period The period in seconds between samples taken by the user
*/
LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(std::shared_ptr<PIDSource> source,
double timeConstant,
double period) {
LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(
std::shared_ptr<PIDSource> source, double timeConstant, double period) {
double gain = std::exp(-period / timeConstant);
return LinearDigitalFilter(std::move(source), {1.0 - gain}, {-gain});
}
@@ -86,13 +97,12 @@ LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(std::shared_ptr<PIDSource
*
* This filter is stable for time constants greater than zero
*
* @param source The PIDSource object that is used to get values
* @param source The PIDSource object that is used to get values
* @param timeConstant The discrete-time time constant in seconds
* @param period The period in seconds between samples taken by the user
* @param period The period in seconds between samples taken by the user
*/
LinearDigitalFilter LinearDigitalFilter::HighPass(std::shared_ptr<PIDSource> source,
double timeConstant,
double period) {
LinearDigitalFilter LinearDigitalFilter::HighPass(
std::shared_ptr<PIDSource> source, double timeConstant, double period) {
double gain = std::exp(-period / timeConstant);
return LinearDigitalFilter(std::move(source), {gain, -gain}, {-gain});
}
@@ -104,11 +114,11 @@ LinearDigitalFilter LinearDigitalFilter::HighPass(std::shared_ptr<PIDSource> sou
* This filter is always stable.
*
* @param source The PIDSource object that is used to get values
* @param taps The number of samples to average over. Higher = smoother but
* slower
* @param taps The number of samples to average over. Higher = smoother but
* slower
*/
LinearDigitalFilter LinearDigitalFilter::MovingAverage(std::shared_ptr<PIDSource> source,
unsigned int taps) {
LinearDigitalFilter LinearDigitalFilter::MovingAverage(
std::shared_ptr<PIDSource> source, unsigned int taps) {
assert(taps > 0);
std::vector<double> gains(taps, 1.0 / taps);

2
wpilibc/shared/src/GyroBase.cpp
View File

@@ -6,8 +6,8 @@
/*----------------------------------------------------------------------------*/
#include "GyroBase.h"
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"
#include "WPIErrors.h"
/**
* Get the PIDOutput for the PIDSource base object. Can be set to return

78
wpilibc/shared/src/LiveWindow/LiveWindow.cpp
View File

@@ -6,23 +6,24 @@
/*----------------------------------------------------------------------------*/
#include "LiveWindow/LiveWindow.h"
#include "networktables/NetworkTable.h"
#include <algorithm>
#include <sstream>
#include "networktables/NetworkTable.h"
/**
* Get an instance of the LiveWindow main class
* Get an instance of the LiveWindow main class.
*
* This is a singleton to guarantee that there is only a single instance
* regardless of
* how many times GetInstance is called.
* regardless of how many times GetInstance is called.
*/
LiveWindow *LiveWindow::GetInstance() {
LiveWindow* LiveWindow::GetInstance() {
static LiveWindow instance;
return &instance;
}
/**
* LiveWindow constructor.
*
* Allocate the necessary tables.
*/
LiveWindow::LiveWindow() : m_scheduler(Scheduler::GetInstance()) {
@@ -31,7 +32,8 @@ LiveWindow::LiveWindow() : m_scheduler(Scheduler::GetInstance()) {
}
/**
* Change the enabled status of LiveWindow
* Change the enabled status of LiveWindow.
*
* If it changes to enabled, start livewindow running otherwise stop it
*/
void LiveWindow::SetEnabled(bool enabled) {
@@ -58,16 +60,19 @@ void LiveWindow::SetEnabled(bool enabled) {
/**
* @name AddSensor(subsystem, name, component)
*
* Add a Sensor associated with the subsystem and call it by the given name.
*
* @param subsystem The subsystem this component is part of.
* @param name The name of this component.
* @param name The name of this component.
* @param component A LiveWindowSendable component that represents a sensor.
*/
//@{
/**
* @brief Use a STL smart pointer to share ownership of component.
*/
void LiveWindow::AddSensor(const std::string &subsystem, const std::string &name,
void LiveWindow::AddSensor(const std::string& subsystem,
const std::string& name,
std::shared_ptr<LiveWindowSendable> component) {
m_components[component].subsystem = subsystem;
m_components[component].name = name;
@@ -77,20 +82,20 @@ void LiveWindow::AddSensor(const std::string &subsystem, const std::string &name
/**
* @brief Pass a reference to LiveWindow and retain ownership of the component.
*/
void LiveWindow::AddSensor(const std::string &subsystem,
const std::string &name,
LiveWindowSendable &component) {
void LiveWindow::AddSensor(const std::string& subsystem,
const std::string& name,
LiveWindowSendable& component) {
AddSensor(subsystem, name, std::shared_ptr<LiveWindowSendable>(
&component, [](LiveWindowSendable*){}));
&component, [](LiveWindowSendable*) {}));
}
/**
* @brief Use a raw pointer to the LiveWindow.
* @deprecated Prefer smart pointers or references.
*/
void LiveWindow::AddSensor(const std::string &subsystem,
const std::string &name,
LiveWindowSendable *component) {
void LiveWindow::AddSensor(const std::string& subsystem,
const std::string& name,
LiveWindowSendable* component) {
AddSensor(subsystem, name, std::shared_ptr<LiveWindowSendable>(
component, NullDeleter<LiveWindowSendable>()));
}
@@ -98,16 +103,19 @@ void LiveWindow::AddSensor(const std::string &subsystem,
/**
* @name AddActuator(subsystem, name, component)
*
* Add an Actuator associated with the subsystem and call it by the given name.
*
* @param subsystem The subsystem this component is part of.
* @param name The name of this component.
* @param name The name of this component.
* @param component A LiveWindowSendable component that represents a actuator.
*/
//@{
/**
* @brief Use a STL smart pointer to share ownership of component.
*/
void LiveWindow::AddActuator(const std::string &subsystem, const std::string &name,
void LiveWindow::AddActuator(const std::string& subsystem,
const std::string& name,
std::shared_ptr<LiveWindowSendable> component) {
m_components[component].subsystem = subsystem;
m_components[component].name = name;
@@ -117,19 +125,20 @@ void LiveWindow::AddActuator(const std::string &subsystem, const std::string &na
/**
* @brief Pass a reference to LiveWindow and retain ownership of the component.
*/
void LiveWindow::AddActuator(const std::string &subsystem,
const std::string &name,
LiveWindowSendable &component) {
void LiveWindow::AddActuator(const std::string& subsystem,
const std::string& name,
LiveWindowSendable& component) {
AddActuator(subsystem, name, std::shared_ptr<LiveWindowSendable>(
&component, [](LiveWindowSendable*){}));
&component, [](LiveWindowSendable*) {}));
}
/**
* @brief Use a raw pointer to the LiveWindow.
* @deprecated Prefer smart pointers or references.
*/
void LiveWindow::AddActuator(const std::string &subsystem, const std::string &name,
LiveWindowSendable *component) {
void LiveWindow::AddActuator(const std::string& subsystem,
const std::string& name,
LiveWindowSendable* component) {
AddActuator(subsystem, name,
std::shared_ptr<LiveWindowSendable>(
component, NullDeleter<LiveWindowSendable>()));
@@ -140,7 +149,7 @@ void LiveWindow::AddActuator(const std::string &subsystem, const std::string &na
* Meant for internal use in other WPILib classes.
*/
void LiveWindow::AddSensor(std::string type, int channel,
LiveWindowSendable *component) {
LiveWindowSendable* component) {
std::ostringstream oss;
oss << type << "[" << channel << "]";
AddSensor("Ungrouped", oss.str(), component);
@@ -155,26 +164,29 @@ void LiveWindow::AddSensor(std::string type, int channel,
* Meant for internal use in other WPILib classes.
*/
void LiveWindow::AddActuator(std::string type, int channel,
LiveWindowSendable *component) {
LiveWindowSendable* component) {
std::ostringstream oss;
oss << type << "[" << channel << "]";
AddActuator("Ungrouped", oss.str(), std::shared_ptr<LiveWindowSendable>(
component, [](LiveWindowSendable *) {}));
AddActuator("Ungrouped", oss.str(),
std::shared_ptr<LiveWindowSendable>(component,
[](LiveWindowSendable*) {}));
}
/**
* Meant for internal use in other WPILib classes.
*/
void LiveWindow::AddActuator(std::string type, int module, int channel,
LiveWindowSendable *component) {
LiveWindowSendable* component) {
std::ostringstream oss;
oss << type << "[" << module << "," << channel << "]";
AddActuator("Ungrouped", oss.str(), std::shared_ptr<LiveWindowSendable>(
component, [](LiveWindowSendable *) {}));
AddActuator("Ungrouped", oss.str(),
std::shared_ptr<LiveWindowSendable>(component,
[](LiveWindowSendable*) {}));
}
/**
* Tell all the sensors to update (send) their values
* Tell all the sensors to update (send) their values.
*
* Actuators are handled through callbacks on their value changing from the
* SmartDashboard widgets.
*/
@@ -207,8 +219,8 @@ void LiveWindow::InitializeLiveWindowComponents() {
LiveWindowComponent c = elem.second;
std::string subsystem = c.subsystem;
std::string name = c.name;
m_liveWindowTable->GetSubTable(subsystem)
->PutString("~TYPE~", "LW Subsystem");
m_liveWindowTable->GetSubTable(subsystem)->PutString("~TYPE~",
"LW Subsystem");
std::shared_ptr<ITable> table(
m_liveWindowTable->GetSubTable(subsystem)->GetSubTable(name));
table->PutString("~TYPE~", component->GetSmartDashboardType());

2
wpilibc/shared/src/LiveWindow/LiveWindowStatusListener.cpp
View File

@@ -8,6 +8,6 @@
#include "LiveWindow/LiveWindowStatusListener.h"
#include "Commands/Scheduler.h"
void LiveWindowStatusListener::ValueChanged(ITable *source, llvm::StringRef key,
void LiveWindowStatusListener::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value,
bool isNew) {}

4
wpilibc/shared/src/PIDSource.cpp
View File

@@ -16,6 +16,4 @@ void PIDSource::SetPIDSourceType(PIDSourceType pidSource) {
m_pidSource = pidSource;
}
PIDSourceType PIDSource::GetPIDSourceType() const {
return m_pidSource;
}
PIDSourceType PIDSource::GetPIDSourceType() const { return m_pidSource; }

40
wpilibc/shared/src/Resource.cpp
View File

@@ -6,17 +6,17 @@
/*----------------------------------------------------------------------------*/
#include "Resource.h"
#include "WPIErrors.h"
#include "ErrorBase.h"
#include "WPIErrors.h"
priority_recursive_mutex Resource::m_createLock;
/**
* Allocate storage for a new instance of Resource.
*
* Allocate a bool array of values that will get initialized to indicate that no
* resources
* have been allocated yet. The indicies of the resources are [0 .. elements -
* 1].
* resources have been allocated yet. The indicies of the resources are [0 ..
* elements - 1].
*/
Resource::Resource(uint32_t elements) {
std::lock_guard<priority_recursive_mutex> sync(m_createLock);
@@ -26,12 +26,13 @@ Resource::Resource(uint32_t elements) {
/**
* Factory method to create a Resource allocation-tracker *if* needed.
*
* @param r -- address of the caller's Resource pointer. If *r == nullptr, this
* will construct a Resource and make *r point to it. If *r != nullptr, i.e.
* the caller already has a Resource instance, this won't do anything.
* @param elements -- the number of elements for this Resource allocator to
* track, that is, it will allocate resource numbers in the range
* [0 .. elements - 1].
* @param r address of the caller's Resource pointer. If *r == nullptr,
* this will construct a Resource and make *r point to it. If
* *r != nullptr, i.e. the caller already has a Resource
* instance, this won't do anything.
* @param elements the number of elements for this Resource allocator to
* track, that is, it will allocate resource numbers in the
* range [0 .. elements - 1].
*/
/*static*/ void Resource::CreateResourceObject(std::unique_ptr<Resource>& r,
uint32_t elements) {
@@ -43,11 +44,12 @@ Resource::Resource(uint32_t elements) {
/**
* Allocate a resource.
*
* When a resource is requested, mark it allocated. In this case, a free
* resource value
* within the range is located and returned after it is marked allocated.
* resource value within the range is located and returned after it is marked
* allocated.
*/
uint32_t Resource::Allocate(const std::string &resourceDesc) {
uint32_t Resource::Allocate(const std::string& resourceDesc) {
std::lock_guard<priority_recursive_mutex> sync(m_allocateLock);
for (uint32_t i = 0; i < m_isAllocated.size(); i++) {
if (!m_isAllocated[i]) {
@@ -61,11 +63,11 @@ uint32_t Resource::Allocate(const std::string &resourceDesc) {
/**
* Allocate a specific resource value.
*
* The user requests a specific resource value, i.e. channel number and it is
* verified
* unallocated, then returned.
* verified unallocated, then returned.
*/
uint32_t Resource::Allocate(uint32_t index, const std::string &resourceDesc) {
uint32_t Resource::Allocate(uint32_t index, const std::string& resourceDesc) {
std::lock_guard<priority_recursive_mutex> sync(m_allocateLock);
if (index >= m_isAllocated.size()) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, resourceDesc);
@@ -81,10 +83,10 @@ uint32_t Resource::Allocate(uint32_t index, const std::string &resourceDesc) {
/**
* Free an allocated resource.
*
* After a resource is no longer needed, for example a destructor is called for
* a channel assignment
* class, Free will release the resource value so it can be reused somewhere
* else in the program.
* a channel assignment class, Free will release the resource value so it can
* be reused somewhere else in the program.
*/
void Resource::Free(uint32_t index) {
std::unique_lock<priority_recursive_mutex> sync(m_allocateLock);

3
wpilibc/shared/src/RobotState.cpp
View File

@@ -16,8 +16,7 @@ void RobotState::SetImplementation(RobotStateInterface& i) {
&i, NullDeleter<RobotStateInterface>());
}
void RobotState::SetImplementation(
std::shared_ptr<RobotStateInterface> i) {
void RobotState::SetImplementation(std::shared_ptr<RobotStateInterface> i) {
impl = i;
}

35
wpilibc/shared/src/SmartDashboard/SendableChooser.cpp
View File

@@ -14,37 +14,42 @@ static const std::string kOptions = "options";
static const std::string kSelected = "selected";
/**
* Adds the given object to the list of options. On the {@link SmartDashboard}
* on the desktop,
* the object will appear as the given name.
* @param name the name of the option
* Adds the given object to the list of options.
*
* On the {@link SmartDashboard} on the desktop, the object will appear as the
* given name.
*
* @param name the name of the option
* @param object the option
*/
void SendableChooser::AddObject(const std::string &name, void *object) {
void SendableChooser::AddObject(const std::string& name, void* object) {
m_choices[name] = object;
}
/**
* Add the given object to the list of options and marks it as the default.
*
* Functionally, this is very close to {@link SendableChooser#AddObject(const
* char *name, void *object) AddObject(...)}
* except that it will use this as the default option if none other is
* explicitly selected.
* @param name the name of the option
* char *name, void *object) AddObject(...)} except that it will use this as
* the default option if none other is explicitly selected.
*
* @param name the name of the option
* @param object the option
*/
void SendableChooser::AddDefault(const std::string &name, void *object) {
void SendableChooser::AddDefault(const std::string& name, void* object) {
m_defaultChoice = name;
AddObject(name, object);
}
/**
* Returns the selected option. If there is none selected, it will return the
* default. If there is none selected
* and no default, then it will return {@code nullptr}.
* Returns the selected option.
*
* If there is none selected, it will return the default. If there is none
* selected and no default, then it will return {@code nullptr}.
*
* @return the option selected
*/
void *SendableChooser::GetSelected() {
void* SendableChooser::GetSelected() {
std::string selected = m_table->GetString(kSelected, m_defaultChoice);
if (selected == "")
return nullptr;
@@ -56,7 +61,7 @@ void SendableChooser::InitTable(std::shared_ptr<ITable> subtable) {
std::vector<std::string> keys;
m_table = subtable;
if (m_table != nullptr) {
std::map<std::string, void *>::iterator iter;
std::map<std::string, void*>::iterator iter;
for (iter = m_choices.begin(); iter != m_choices.end(); iter++) {
keys.push_back(iter->first);
}

69
wpilibc/shared/src/SmartDashboard/SmartDashboard.cpp
View File

@@ -8,13 +8,13 @@
#include "SmartDashboard/SmartDashboard.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "HLUsageReporting.h"
#include "SmartDashboard/NamedSendable.h"
#include "WPIErrors.h"
#include "networktables/NetworkTable.h"
#include "HLUsageReporting.h"
std::shared_ptr<ITable> SmartDashboard::m_table;
std::map<std::shared_ptr<ITable> , Sendable *> SmartDashboard::m_tablesToData;
std::map<std::shared_ptr<ITable>, Sendable*> SmartDashboard::m_tablesToData;
void SmartDashboard::init() {
m_table = NetworkTable::GetTable("SmartDashboard");
@@ -24,13 +24,14 @@ void SmartDashboard::init() {
/**
* Maps the specified key to the specified value in this table.
* The key can not be nullptr.
*
* The value can be retrieved by calling the get method with a key that is equal
* to the original key.
*
* @param keyName the key
* @param value the value
* @param value the value
*/
void SmartDashboard::PutData(llvm::StringRef key, Sendable *data) {
void SmartDashboard::PutData(llvm::StringRef key, Sendable* data) {
if (data == nullptr) {
wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
return;
@@ -42,14 +43,15 @@ void SmartDashboard::PutData(llvm::StringRef key, Sendable *data) {
}
/**
* Maps the specified key (where the key is the name of the {@link
* SmartDashboardNamedData}
* to the specified value in this table.
* Maps the specified key (where the key is the name of the
* {@link SmartDashboardNamedData} to the specified value in this table.
*
* The value can be retrieved by calling the get method with a key that is equal
* to the original key.
*
* @param value the value
*/
void SmartDashboard::PutData(NamedSendable *value) {
void SmartDashboard::PutData(NamedSendable* value) {
if (value == nullptr) {
wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
return;
@@ -59,12 +61,13 @@ void SmartDashboard::PutData(NamedSendable *value) {
/**
* Returns the value at the specified key.
*
* @param keyName the key
* @return the value
*/
Sendable *SmartDashboard::GetData(llvm::StringRef key) {
Sendable* SmartDashboard::GetData(llvm::StringRef key) {
std::shared_ptr<ITable> subtable(m_table->GetSubTable(key));
Sendable *data = m_tablesToData[subtable];
Sendable* data = m_tablesToData[subtable];
if (data == nullptr) {
wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key);
return nullptr;
@@ -75,11 +78,12 @@ Sendable *SmartDashboard::GetData(llvm::StringRef key) {
/**
* Maps the specified key to the specified complex value (such as an array) in
* this table.
* The key can not be nullptr.
*
* The value can be retrieved by calling the RetrieveValue method with a key
* that is equal to the original key.
*
* @param keyName the key
* @param value the value
* @param value the value
*/
void SmartDashboard::PutValue(llvm::StringRef keyName,
std::shared_ptr<nt::Value> value) {
@@ -88,10 +92,10 @@ void SmartDashboard::PutValue(llvm::StringRef keyName,
/**
* Retrieves the complex value (such as an array) in this table into the complex
* data object
* The key can not be nullptr.
* data object.
*
* @param keyName the key
* @param value the object to retrieve the value into
* @param value the object to retrieve the value into
*/
std::shared_ptr<nt::Value> SmartDashboard::GetValue(llvm::StringRef keyName) {
return m_table->GetValue(keyName);
@@ -99,19 +103,22 @@ std::shared_ptr<nt::Value> SmartDashboard::GetValue(llvm::StringRef keyName) {
/**
* Maps the specified key to the specified value in this table.
* The key can not be nullptr.
*
* The value can be retrieved by calling the get method with a key that is equal
* to the original key.
*
* @param keyName the key
* @param value the value
* @param value the value
*/
void SmartDashboard::PutBoolean(llvm::StringRef keyName, bool value) {
m_table->PutBoolean(keyName, value);
}
/**
* Returns the value at the specified key. If the key is not found, returns the
* default value.
* Returns the value at the specified key.
*
* If the key is not found, returns the default value.
*
* @param keyName the key
* @return the value
*/
@@ -121,19 +128,22 @@ bool SmartDashboard::GetBoolean(llvm::StringRef keyName, bool defaultValue) {
/**
* Maps the specified key to the specified value in this table.
* The key can not be nullptr.
*
* The value can be retrieved by calling the get method with a key that is equal
* to the original key.
*
* @param keyName the key
* @param value the value
* @param value the value
*/
void SmartDashboard::PutNumber(llvm::StringRef keyName, double value) {
m_table->PutNumber(keyName, value);
}
/**
* Returns the value at the specified key. If the key is not found, returns the
* default value.
* Returns the value at the specified key.
*
* If the key is not found, returns the default value.
*
* @param keyName the key
* @return the value
*/
@@ -143,19 +153,22 @@ double SmartDashboard::GetNumber(llvm::StringRef keyName, double defaultValue) {
/**
* Maps the specified key to the specified value in this table.
* Neither the key nor the value can be nullptr.
*
* The value can be retrieved by calling the get method with a key that is equal
* to the original key.
*
* @param keyName the key
* @param value the value
* @param value the value
*/
void SmartDashboard::PutString(llvm::StringRef keyName, llvm::StringRef value) {
m_table->PutString(keyName, value);
}
/**
* Returns the value at the specified key. If the key is not found, returns the
* default value.
* Returns the value at the specified key.
*
* If the key is not found, returns the default value.
*
* @param keyName the key
* @return the value
*/

2
wpilibc/shared/src/interfaces/Potentiometer.cpp
View File

@@ -5,8 +5,8 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <interfaces/Potentiometer.h>
#include <Utility.h>
#include <interfaces/Potentiometer.h>
void Potentiometer::SetPIDSourceType(PIDSourceType pidSource) {
if (wpi_assert(pidSource == PIDSourceType::kDisplacement)) {