mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
e6f5c93ab1
- Remove use of std::set. The only place std::set was actually used was in ParallelRaceGroup, but this was of minimal utility as ParallelRaceGroup checked for duplicate subsystem requirements, so it would be very unusual to end up with duplicate commands in any case; replaced it with a vector. - Remove use of std::unordered_map except for SelectCommand. Replaced with vector. - Use pImpl idiom for CommandScheduler - Minimize include files (remove unnecessary ones) - Reformat include file order for consistency
69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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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#pragma once
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#include <string>
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#include <frc/smartdashboard/Sendable.h>
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#include <frc/smartdashboard/SendableHelper.h>
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#include "frc2/command/Subsystem.h"
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namespace frc2 {
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/**
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* A base for subsystems that handles registration in the constructor, and
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* provides a more intuitive method for setting the default command.
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*/
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class SubsystemBase : public Subsystem,
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public frc::Sendable,
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public frc::SendableHelper<SubsystemBase> {
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public:
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void InitSendable(frc::SendableBuilder& builder) override;
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/**
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* Gets the name of this Subsystem.
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*
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* @return Name
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*/
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std::string GetName() const;
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/**
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* Sets the name of this Subsystem.
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*
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* @param name name
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*/
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void SetName(const wpi::Twine& name);
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/**
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* Gets the subsystem name of this Subsystem.
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*
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* @return Subsystem name
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*/
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std::string GetSubsystem() const;
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/**
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* Sets the subsystem name of this Subsystem.
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*
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* @param subsystem subsystem name
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*/
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void SetSubsystem(const wpi::Twine& name);
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/**
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* Associate a Sendable with this Subsystem.
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* Also update the child's name.
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*
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* @param name name to give child
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* @param child sendable
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*/
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void AddChild(std::string name, frc::Sendable* child);
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protected:
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SubsystemBase();
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};
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} // namespace frc2
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