This reverts commit a79faace1b.
This change will be superseded in a non-breaking way by changing to static functions and deprecating GetInstance() entirely.
Improves consistency across all classes.
Affects Preferences, LiveWindow, and CameraServer.
Old commands Scheduler::GetInstance() was not updated as this is already
deprecated.
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
This avoids users having to call both IsOperatorControl() and IsEnabled() to figure out if their robot is
enabled and in the teleop state. The expression above involves calling two methods that each have their
own lock.
These new methods should only involve locking one mutex, since only one call is made to HAL_GetControlWord().
This is useful for both cleanly exiting from simulation and for unit testing
at a framework level.
This change required removing move constructor/assignment from IterativeRobot.
This is the C++ version of #1682.
The old command framework is still available, but will be deprecated.
Due to name conflicts, the new framework is in the frc2 namespace.
Eventually (after the old command framework is removed in a future year)
it will be moved into the main frc namespace.
It drastically increases compile times and is bad style. C++ users
should be including what they use. We don't necessarily have to remove
WPILib.h, but it should at least be deprecated.
SampleRobot provides no benefits over RobotBase to advanced teams and
TimedRobot is recommended for everyone else.
A skeleton template for RobotBase was added.
The old headers were moved into folders because doing so avoids polluting
the system include directories.
Folder names were also normalized to lowercase.
In order for this to properly work, we need to remove the main code.
Then the test component will actually have the main in it. Example tests will be added later.
Also checks that all items in the json file have a matching example
One was missing from C++, that example was added (The one in eclipse was completely wrong)
LiveWindow.updateValues() is now called from IterativeRobotBase on every
loop iteration. Telemetry for all WPILib classes is enabled by default;
it can be disabled for specific classes using LiveWindow.disableTelemetry(),
or all telemetry can be disabled using LiveWindow.disableAllTelemetry().
This necessitated changing the hook methodology into other classes to
be more property-based rather than each class providing multiple functions.
This had the benefit of reducing boilerplate and increasing consistency.
- Remove NamedSendable, add name to Sendable.
- Provide SendableBase abstract class.
- Deprecate LiveWindow addSensor/addActuator interfaces.
- Add LiveWindow support to drive classes.
- Add addChild() helper functions to Subsystem.
- Fix inheritance hierarchy. Now only sensors inherit from SensorBase.
Other devices inherit from some combination of SendableBase, ErrorBase, or
nothing.
