mirror of
https://github.com/wpilibsuite/allwpilib
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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
135 lines
4.1 KiB
C++
135 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2019 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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#include "frc/commands/Subsystem.h"
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#include "frc/WPIErrors.h"
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#include "frc/commands/Command.h"
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#include "frc/commands/Scheduler.h"
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#include "frc/livewindow/LiveWindow.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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Subsystem::Subsystem(const wpi::Twine& name) {
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SendableRegistry::GetInstance().AddLW(this, name, name);
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Scheduler::GetInstance()->RegisterSubsystem(this);
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}
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void Subsystem::SetDefaultCommand(Command* command) {
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if (command == nullptr) {
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m_defaultCommand = nullptr;
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} else {
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const auto& reqs = command->GetRequirements();
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if (std::find(reqs.begin(), reqs.end(), this) == reqs.end()) {
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wpi_setWPIErrorWithContext(
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CommandIllegalUse, "A default command must require the subsystem");
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return;
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}
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m_defaultCommand = command;
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}
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}
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Command* Subsystem::GetDefaultCommand() {
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if (!m_initializedDefaultCommand) {
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m_initializedDefaultCommand = true;
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InitDefaultCommand();
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}
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return m_defaultCommand;
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}
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wpi::StringRef Subsystem::GetDefaultCommandName() {
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Command* defaultCommand = GetDefaultCommand();
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if (defaultCommand) {
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return SendableRegistry::GetInstance().GetName(defaultCommand);
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} else {
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return wpi::StringRef();
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}
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}
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void Subsystem::SetCurrentCommand(Command* command) {
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m_currentCommand = command;
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m_currentCommandChanged = true;
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}
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Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }
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wpi::StringRef Subsystem::GetCurrentCommandName() const {
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Command* currentCommand = GetCurrentCommand();
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if (currentCommand) {
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return SendableRegistry::GetInstance().GetName(currentCommand);
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} else {
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return wpi::StringRef();
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}
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}
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void Subsystem::Periodic() {}
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void Subsystem::InitDefaultCommand() {}
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std::string Subsystem::GetName() const {
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return SendableRegistry::GetInstance().GetName(this);
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}
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void Subsystem::SetName(const wpi::Twine& name) {
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SendableRegistry::GetInstance().SetName(this, name);
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}
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std::string Subsystem::GetSubsystem() const {
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return SendableRegistry::GetInstance().GetSubsystem(this);
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}
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void Subsystem::SetSubsystem(const wpi::Twine& name) {
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SendableRegistry::GetInstance().SetSubsystem(this, name);
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}
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void Subsystem::AddChild(const wpi::Twine& name,
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std::shared_ptr<Sendable> child) {
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AddChild(name, *child);
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}
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void Subsystem::AddChild(const wpi::Twine& name, Sendable* child) {
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AddChild(name, *child);
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}
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void Subsystem::AddChild(const wpi::Twine& name, Sendable& child) {
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auto& registry = SendableRegistry::GetInstance();
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registry.AddLW(&child, registry.GetSubsystem(this), name);
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registry.AddChild(this, &child);
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}
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void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
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void Subsystem::AddChild(Sendable* child) { AddChild(*child); }
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void Subsystem::AddChild(Sendable& child) {
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auto& registry = SendableRegistry::GetInstance();
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registry.SetSubsystem(&child, registry.GetSubsystem(this));
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registry.EnableLiveWindow(&child);
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registry.AddChild(this, &child);
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}
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void Subsystem::ConfirmCommand() {
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if (m_currentCommandChanged) m_currentCommandChanged = false;
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}
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void Subsystem::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Subsystem");
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builder.AddBooleanProperty(
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".hasDefault", [=]() { return m_defaultCommand != nullptr; }, nullptr);
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builder.AddStringProperty(".default",
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[=]() { return GetDefaultCommandName(); }, nullptr);
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builder.AddBooleanProperty(
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".hasCommand", [=]() { return m_currentCommand != nullptr; }, nullptr);
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builder.AddStringProperty(".command",
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[=]() { return GetCurrentCommandName(); }, nullptr);
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}
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