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Add dependency injection of Subsystem to Command (#1275)

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This commit is contained in:
Matt Soucy
2018-08-19 22:43:21 -04:00
committed by Peter Johnson
parent 6df500e726
commit e28295fc7b
12 changed files with 291 additions and 2 deletions
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19
wpilibc/src/main/native/cpp/commands/Command.cpp
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@@ -27,6 +27,10 @@ Command::Command(const wpi::Twine& name) : Command(name, -1.0) {}
Command::Command(double timeout) : Command("", timeout) {}
Command::Command(Subsystem& requirement) : Command("", -1.0) {
Requires(&requirement);
}
Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
// We use -1.0 to indicate no timeout.
if (timeout < 0.0 && timeout != -1.0)
@@ -43,6 +47,21 @@ Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
}
}
Command::Command(const wpi::Twine& name, Subsystem& requirement)
: Command(name, -1.0) {
Requires(&requirement);
}
Command::Command(double timeout, Subsystem& requirement)
: Command("", timeout) {
Requires(&requirement);
}
Command::Command(const wpi::Twine& name, double timeout, Subsystem& requirement)
: Command(name, timeout) {
Requires(&requirement);
}
double Command::TimeSinceInitialized() const {
if (m_startTime < 0.0)
return 0.0;

3
wpilibc/src/main/native/cpp/commands/InstantCommand.cpp
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@@ -11,4 +11,7 @@ using namespace frc;
InstantCommand::InstantCommand(const wpi::Twine& name) : Command(name) {}
InstantCommand::InstantCommand(const wpi::Twine& name, Subsystem& subsystem)
: Command(name, subsystem) {}
bool InstantCommand::IsFinished() { return true; }

33
wpilibc/src/main/native/cpp/commands/PIDCommand.cpp
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@@ -41,6 +41,39 @@ PIDCommand::PIDCommand(double p, double i, double d, double period) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double f, double period, Subsystem& requirement)
: Command(name, requirement) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, double f, double period,
Subsystem& requirement) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
Subsystem& requirement)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double period, Subsystem& requirement)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, Subsystem& requirement) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(double p, double i, double d, double period,
Subsystem& requirement) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
void PIDCommand::_Initialize() { m_controller->Enable(); }
void PIDCommand::_End() { m_controller->Disable(); }

7
wpilibc/src/main/native/cpp/commands/TimedCommand.cpp
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@@ -14,4 +14,11 @@ TimedCommand::TimedCommand(const wpi::Twine& name, double timeout)
TimedCommand::TimedCommand(double timeout) : Command(timeout) {}
TimedCommand::TimedCommand(const wpi::Twine& name, double timeout,
Subsystem& requirement)
: Command(name, timeout, requirement) {}
TimedCommand::TimedCommand(double timeout, Subsystem& requirement)
: Command(timeout, requirement) {}
bool TimedCommand::IsFinished() { return IsTimedOut(); }