mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
fbdc810887
* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc2/command/CommandBase.h"
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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using namespace frc2;
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CommandBase::CommandBase() {
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wpi::SendableRegistry::Add(this, GetTypeName(*this));
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}
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void CommandBase::AddRequirements(
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std::initializer_list<Subsystem*> requirements) {
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m_requirements.insert(requirements.begin(), requirements.end());
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}
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void CommandBase::AddRequirements(std::span<Subsystem* const> requirements) {
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m_requirements.insert(requirements.begin(), requirements.end());
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}
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void CommandBase::AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements) {
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m_requirements.insert(requirements.begin(), requirements.end());
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}
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void CommandBase::AddRequirements(Subsystem* requirement) {
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m_requirements.insert(requirement);
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}
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wpi::SmallSet<Subsystem*, 4> CommandBase::GetRequirements() const {
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return m_requirements;
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}
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void CommandBase::SetName(std::string_view name) {
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wpi::SendableRegistry::SetName(this, name);
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}
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std::string CommandBase::GetName() const {
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return wpi::SendableRegistry::GetName(this);
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}
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std::string CommandBase::GetSubsystem() const {
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return wpi::SendableRegistry::GetSubsystem(this);
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}
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void CommandBase::SetSubsystem(std::string_view subsystem) {
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wpi::SendableRegistry::SetSubsystem(this, subsystem);
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}
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void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Command");
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builder.AddStringProperty(
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".name", [this] { return GetName(); }, nullptr);
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builder.AddBooleanProperty(
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"running", [this] { return IsScheduled(); },
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[this](bool value) {
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bool isScheduled = IsScheduled();
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if (value && !isScheduled) {
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Schedule();
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} else if (!value && isScheduled) {
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Cancel();
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}
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});
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}
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