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https://github.com/wpilibsuite/allwpilib
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aaea85ff16
Moves all CommandBase functionality into Command and deprecates CommandBase for removal. Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal. Adds a function to CommandScheduler to remove all registered Subsystems.
33 lines
952 B
C++
33 lines
952 B
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 "CommandTestBase.h"
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using namespace frc2;
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CommandTestBase::CommandTestBase() {
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auto& scheduler = CommandScheduler::GetInstance();
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scheduler.CancelAll();
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scheduler.Enable();
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scheduler.GetActiveButtonLoop()->Clear();
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scheduler.UnregisterAllSubsystems();
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SetDSEnabled(true);
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}
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CommandTestBase::~CommandTestBase() {
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CommandScheduler::GetInstance().GetActiveButtonLoop()->Clear();
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CommandScheduler::GetInstance().UnregisterAllSubsystems();
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}
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CommandScheduler CommandTestBase::GetScheduler() {
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return CommandScheduler();
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}
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void CommandTestBase::SetDSEnabled(bool enabled) {
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frc::sim::DriverStationSim::SetDsAttached(true);
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frc::sim::DriverStationSim::SetEnabled(enabled);
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frc::sim::DriverStationSim::NotifyNewData();
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}
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