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Remove most 2022 deprecations (#4205)

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Excludes "old" commands and SimDevice functions.
This commit is contained in:
Tyler Veness
2022-05-04 20:37:27 -07:00
committed by GitHub
parent ce1a7d698a
commit ee03a7ad3b
75 changed files with 165 additions and 1882 deletions
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8
wpilibc/src/main/native/cpp/Compressor.cpp
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@@ -34,14 +34,6 @@ Compressor::~Compressor() {
}
}
void Compressor::Start() {
EnableDigital();
}
void Compressor::Stop() {
Disable();
}
bool Compressor::Enabled() const {
return IsEnabled();
}

18
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -233,12 +233,6 @@ Instance::~Instance() {
}
}
DriverStation& DriverStation::GetInstance() {
::GetInstance();
static DriverStation instance;
return instance;
}
bool DriverStation::GetStickButton(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
@@ -504,20 +498,12 @@ bool DriverStation::IsAutonomousEnabled() {
return controlWord.autonomous && controlWord.enabled;
}
bool DriverStation::IsOperatorControl() {
return IsTeleop();
}
bool DriverStation::IsTeleop() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return !(controlWord.autonomous || controlWord.test);
}
bool DriverStation::IsOperatorControlEnabled() {
return IsTeleopEnabled();
}
bool DriverStation::IsTeleopEnabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
@@ -671,10 +657,6 @@ void DriverStation::InAutonomous(bool entering) {
::GetInstance().userInAutonomous = entering;
}
void DriverStation::InOperatorControl(bool entering) {
InTeleop(entering);
}
void DriverStation::InTeleop(bool entering) {
::GetInstance().userInTeleop = entering;
}

3
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -16,9 +16,6 @@
using namespace frc;
IterativeRobotBase::IterativeRobotBase(double period)
: IterativeRobotBase(units::second_t(period)) {}
IterativeRobotBase::IterativeRobotBase(units::second_t period)
: m_period(period),
m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}

30
wpilibc/src/main/native/cpp/Preferences.cpp
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@@ -38,12 +38,6 @@ void ResetPreferencesInstance() {
} // namespace frc::impl
#endif
Preferences* Preferences::GetInstance() {
::GetInstance();
static Preferences instance;
return &instance;
}
std::vector<std::string> Preferences::GetKeys() {
return ::GetInstance().table->GetKeys();
}
@@ -80,10 +74,6 @@ void Preferences::SetString(std::string_view key, std::string_view value) {
entry.SetPersistent();
}
void Preferences::PutString(std::string_view key, std::string_view value) {
SetString(key, value);
}
void Preferences::InitString(std::string_view key, std::string_view value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultString(value);
@@ -96,10 +86,6 @@ void Preferences::SetInt(std::string_view key, int value) {
entry.SetPersistent();
}
void Preferences::PutInt(std::string_view key, int value) {
SetInt(key, value);
}
void Preferences::InitInt(std::string_view key, int value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
@@ -112,10 +98,6 @@ void Preferences::SetDouble(std::string_view key, double value) {
entry.SetPersistent();
}
void Preferences::PutDouble(std::string_view key, double value) {
SetDouble(key, value);
}
void Preferences::InitDouble(std::string_view key, double value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
@@ -128,10 +110,6 @@ void Preferences::SetFloat(std::string_view key, float value) {
entry.SetPersistent();
}
void Preferences::PutFloat(std::string_view key, float value) {
SetFloat(key, value);
}
void Preferences::InitFloat(std::string_view key, float value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
@@ -144,10 +122,6 @@ void Preferences::SetBoolean(std::string_view key, bool value) {
entry.SetPersistent();
}
void Preferences::PutBoolean(std::string_view key, bool value) {
SetBoolean(key, value);
}
void Preferences::InitBoolean(std::string_view key, bool value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultBoolean(value);
@@ -160,10 +134,6 @@ void Preferences::SetLong(std::string_view key, int64_t value) {
entry.SetPersistent();
}
void Preferences::PutLong(std::string_view key, int64_t value) {
SetLong(key, value);
}
void Preferences::InitLong(std::string_view key, int64_t value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);

4
wpilibc/src/main/native/cpp/RobotState.cpp
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@@ -20,10 +20,6 @@ bool RobotState::IsEStopped() {
return DriverStation::IsEStopped();
}
bool RobotState::IsOperatorControl() {
return IsTeleop();
}
bool RobotState::IsTeleop() {
return DriverStation::IsTeleop();
}

21
wpilibc/src/main/native/cpp/SPI.cpp
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@@ -196,16 +196,6 @@ void SPI::SetSampleDataOnTrailingEdge() {
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
}
void SPI::SetSampleDataOnFalling() {
m_sampleOnTrailing = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
}
void SPI::SetSampleDataOnRising() {
m_sampleOnTrailing = false;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
}
void SPI::SetClockActiveLow() {
m_clockIdleHigh = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
@@ -278,10 +268,6 @@ void SPI::StartAutoRate(units::second_t period) {
FRC_CheckErrorStatus(status, "Port {}", m_port);
}
void SPI::StartAutoRate(double period) {
StartAutoRate(units::second_t(period));
}
void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) {
int32_t status = 0;
HAL_StartSPIAutoTrigger(m_port, source.GetPortHandleForRouting(),
@@ -355,13 +341,6 @@ void SPI::InitAccumulator(units::second_t period, int cmd, int xferSize,
m_accum->m_notifier.StartPeriodic(period * kAccumulateDepth / 2);
}
void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
int validValue, int dataShift, int dataSize,
bool isSigned, bool bigEndian) {
InitAccumulator(units::second_t(period), cmd, xferSize, validMask, validValue,
dataShift, dataSize, isSigned, bigEndian);
}
void SPI::FreeAccumulator() {
m_accum.reset(nullptr);
FreeAuto();

69
wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
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@@ -1,69 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/SpeedControllerGroup.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
// Can't use a delegated constructor here because of an MSVC bug.
// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
SpeedControllerGroup::SpeedControllerGroup(
std::vector<std::reference_wrapper<SpeedController>>&& speedControllers)
: m_speedControllers(std::move(speedControllers)) {
Initialize();
}
void SpeedControllerGroup::Initialize() {
for (auto& speedController : m_speedControllers) {
wpi::SendableRegistry::AddChild(this, &speedController.get());
}
static int instances = 0;
++instances;
wpi::SendableRegistry::Add(this, "SpeedControllerGroup", instances);
}
void SpeedControllerGroup::Set(double speed) {
for (auto speedController : m_speedControllers) {
speedController.get().Set(m_isInverted ? -speed : speed);
}
}
double SpeedControllerGroup::Get() const {
if (!m_speedControllers.empty()) {
return m_speedControllers.front().get().Get() * (m_isInverted ? -1 : 1);
}
return 0.0;
}
void SpeedControllerGroup::SetInverted(bool isInverted) {
m_isInverted = isInverted;
}
bool SpeedControllerGroup::GetInverted() const {
return m_isInverted;
}
void SpeedControllerGroup::Disable() {
for (auto speedController : m_speedControllers) {
speedController.get().Disable();
}
}
void SpeedControllerGroup::StopMotor() {
for (auto speedController : m_speedControllers) {
speedController.get().StopMotor();
}
}
void SpeedControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty(
"Value", [=] { return Get(); }, [=](double value) { Set(value); });
}

2
wpilibc/src/main/native/cpp/TimedRobot.cpp
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@@ -70,8 +70,6 @@ void TimedRobot::EndCompetition() {
HAL_StopNotifier(m_notifier, &status);
}
TimedRobot::TimedRobot(double period) : TimedRobot(units::second_t(period)) {}
TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
m_startTime = Timer::GetFPGATimestamp();
AddPeriodic([=] { LoopFunc(); }, period);

4
wpilibc/src/main/native/cpp/Timer.cpp
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@@ -65,10 +65,6 @@ bool Timer::HasElapsed(units::second_t period) const {
return Get() >= period;
}
bool Timer::HasPeriodPassed(units::second_t period) {
return AdvanceIfElapsed(period);
}
bool Timer::AdvanceIfElapsed(units::second_t period) {
if (Get() >= period) {
// Advance the start time by the period.

14
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -12,20 +12,12 @@
#include <wpi/sendable/SendableRegistry.h>
#include "frc/MathUtil.h"
#include "frc/SpeedController.h"
#include "frc/motorcontrol/MotorController.h"
using namespace frc;
#if defined(_MSC_VER)
#pragma warning(disable : 4996) // was declared deprecated
#elif defined(__clang__)
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
DifferentialDrive::DifferentialDrive(MotorController& leftMotor,
MotorController& rightMotor)
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
wpi::SendableRegistry::AddChild(this, m_leftMotor);
wpi::SendableRegistry::AddChild(this, m_rightMotor);

22
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -13,27 +13,19 @@
#include <wpi/sendable/SendableRegistry.h>
#include "frc/MathUtil.h"
#include "frc/SpeedController.h"
#include "frc/motorcontrol/MotorController.h"
using namespace frc;
#if defined(_MSC_VER)
#pragma warning(disable : 4996) // was declared deprecated
#elif defined(__clang__)
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor)
KilloughDrive::KilloughDrive(MotorController& leftMotor,
MotorController& rightMotor,
MotorController& backMotor)
: KilloughDrive(leftMotor, rightMotor, backMotor, kDefaultLeftMotorAngle,
kDefaultRightMotorAngle, kDefaultBackMotorAngle) {}
KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor, double leftMotorAngle,
KilloughDrive::KilloughDrive(MotorController& leftMotor,
MotorController& rightMotor,
MotorController& backMotor, double leftMotorAngle,
double rightMotorAngle, double backMotorAngle)
: m_leftMotor(&leftMotor),
m_rightMotor(&rightMotor),

18
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -13,23 +13,15 @@
#include <wpi/sendable/SendableRegistry.h>
#include "frc/MathUtil.h"
#include "frc/SpeedController.h"
#include "frc/drive/Vector2d.h"
#include "frc/motorcontrol/MotorController.h"
using namespace frc;
#if defined(_MSC_VER)
#pragma warning(disable : 4996) // was declared deprecated
#elif defined(__clang__)
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
SpeedController& rearRightMotor)
MecanumDrive::MecanumDrive(MotorController& frontLeftMotor,
MotorController& rearLeftMotor,
MotorController& frontRightMotor,
MotorController& rearRightMotor)
: m_frontLeftMotor(&frontLeftMotor),
m_rearLeftMotor(&rearLeftMotor),
m_frontRightMotor(&frontRightMotor),

5
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
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@@ -10,7 +10,6 @@
#include <hal/FRCUsageReporting.h>
#include "frc/MathUtil.h"
#include "frc/motorcontrol/MotorController.h"
using namespace frc;
@@ -31,10 +30,6 @@ void RobotDriveBase::FeedWatchdog() {
Feed();
}
double RobotDriveBase::ApplyDeadband(double value, double deadband) {
return frc::ApplyDeadband(value, deadband);
}
void RobotDriveBase::Desaturate(wpi::span<double> wheelSpeeds) {
double maxMagnitude = std::abs(wheelSpeeds[0]);
for (size_t i = 1; i < wheelSpeeds.size(); i++) {

6
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
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@@ -75,12 +75,6 @@ std::shared_ptr<Component> Instance::GetOrAdd(wpi::Sendable* sendable) {
return data;
}
LiveWindow* LiveWindow::GetInstance() {
::GetInstance();
static LiveWindow instance;
return &instance;
}
void LiveWindow::SetEnabledCallback(std::function<void()> func) {
::GetInstance().enabled = func;
}

4
wpilibc/src/main/native/cpp/SpeedController.cpp → wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
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@@ -2,12 +2,12 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/SpeedController.h"
#include "frc/motorcontrol/MotorController.h"
#include <frc/RobotController.h>
using namespace frc;
void SpeedController::SetVoltage(units::volt_t output) {
void MotorController::SetVoltage(units::volt_t output) {
Set(output / units::volt_t(RobotController::GetInputVoltage()));
}