mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
22c0e2813a
MacOS no longer ships 6.0, and Arch Linux's mesa GPU drivers are no longer compatible with LLVM 6.0.
69 lines
2.3 KiB
C++
69 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc2/command/SubsystemBase.h"
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#include <frc/smartdashboard/SendableBuilder.h>
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#include <frc/smartdashboard/SendableRegistry.h>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandScheduler.h"
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using namespace frc2;
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SubsystemBase::SubsystemBase() {
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frc::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
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CommandScheduler::GetInstance().RegisterSubsystem({this});
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}
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void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Subsystem");
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builder.AddBooleanProperty(
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".hasDefault", [this] { return GetDefaultCommand() != nullptr; },
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nullptr);
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builder.AddStringProperty(
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".default",
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[this]() -> std::string {
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auto command = GetDefaultCommand();
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if (command == nullptr) return "none";
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return command->GetName();
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},
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nullptr);
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builder.AddBooleanProperty(
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".hasCommand", [this] { return GetCurrentCommand() != nullptr; },
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nullptr);
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builder.AddStringProperty(
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".command",
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[this]() -> std::string {
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auto command = GetCurrentCommand();
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if (command == nullptr) return "none";
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return command->GetName();
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},
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nullptr);
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}
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std::string SubsystemBase::GetName() const {
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return frc::SendableRegistry::GetInstance().GetName(this);
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}
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void SubsystemBase::SetName(const wpi::Twine& name) {
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frc::SendableRegistry::GetInstance().SetName(this, name);
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}
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std::string SubsystemBase::GetSubsystem() const {
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return frc::SendableRegistry::GetInstance().GetSubsystem(this);
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}
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void SubsystemBase::SetSubsystem(const wpi::Twine& name) {
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frc::SendableRegistry::GetInstance().SetSubsystem(this, name);
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}
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void SubsystemBase::AddChild(std::string name, frc::Sendable* child) {
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auto& registry = frc::SendableRegistry::GetInstance();
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registry.AddLW(child, GetSubsystem(), name);
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}
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