mirror of
https://github.com/wpilibsuite/allwpilib
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509819d83f
This will allow us at the user code side to determine to include old commands, new commands or both.
63 lines
2.3 KiB
C++
63 lines
2.3 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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#include "frc2/command/CommandBase.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/CommandScheduler.h>
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#include <frc2/command/SetUtilities.h>
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using namespace frc2;
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CommandBase::CommandBase() {
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frc::SendableRegistry::GetInstance().AddLW(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(wpi::SmallSet<Subsystem*, 4> requirements) {
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m_requirements.insert(requirements.begin(), requirements.end());
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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(const wpi::Twine& name) {
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frc::SendableRegistry::GetInstance().SetName(this, name);
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}
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std::string CommandBase::GetName() const {
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return frc::SendableRegistry::GetInstance().GetName(this);
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}
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std::string CommandBase::GetSubsystem() const {
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return frc::SendableRegistry::GetInstance().GetSubsystem(this);
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}
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void CommandBase::SetSubsystem(const wpi::Twine& subsystem) {
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frc::SendableRegistry::GetInstance().SetSubsystem(this, subsystem);
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}
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void CommandBase::InitSendable(frc::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Command");
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builder.AddStringProperty(".name", [this] { return GetName(); }, nullptr);
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builder.AddBooleanProperty("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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