mirror of
https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
115 lines
3.4 KiB
C++
115 lines
3.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2018 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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using namespace frc;
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Subsystem::Subsystem(const wpi::Twine& name) {
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SetName(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 defaultCommand->GetName();
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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 currentCommand->GetName();
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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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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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child.SetName(GetSubsystem(), name);
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LiveWindow::GetInstance()->Add(&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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child.SetSubsystem(GetSubsystem());
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LiveWindow::GetInstance()->Add(&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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