Squashed 'third_party/allwpilib/' changes from 66b57f032..e473a00f9
e473a00f9 [wpiutil] Base64: Add unsigned span/vector variants (#3702)
52f2d580e [wpiutil] raw_uv_ostream: Add reset() (#3701)
d7b1e3576 [wpiutil] WebSocket: move std::function (#3700)
93799fbe9 [examples] Fix description of TrapezoidProfileSubsystem (#3699)
b84644740 [wpimath] Document pose estimator states, inputs, and outputs (#3698)
2dc35c139 [wpimath] Fix classpaths for JNI class loads (#3697)
2cb171f6f [docs] Set Doxygen extract_all to true and fix Doxygen failures (#3695)
a939cd9c8 [wpimath] Print uncontrollable/unobservable models in LQR and KF (#3694)
d5270d113 [wpimath] Clean up C++ StateSpaceUtil tests (#3692)
b20903960 [wpimath] Remove redundant discretization tests from StateSpaceUtilTest (#3689)
c0cb545b4 [wpilibc] Add deprecated Doxygen attribute to SpeedController (#3691)
35c9f66a7 [wpilib] Rename PneumaticsHub to PneumaticHub (#3686)
796d03d10 [wpiutil] Remove unused LLVM header (#3688)
8723caf78 [wpilibj] Make Java TrapezoidProfile.Constraints an immutable class (#3687)
187f50a34 [wpimath] Catch incorrect parameters to state-space models earlier (#3680)
8d04606c4 Replace instances of frc-characterization with SysId (NFC) (#3681)
b82d4f6e5 [hal, cscore, ntcore] Use WPI common handle type base
87e34967e [wpiutil] Add synchronization primitives
e32499c54 [wpiutil] Add ParallelTcpConnector (#3655)
aa0b49228 [wpilib] Remove redundant "quick turn" docs for curvature drive (NFC) (#3674)
57301a7f9 [hal] REVPH: Start closed-loop compressor control on init (#3673)
d1842ea8f [wpilib] Improve interrupt docs (NFC) (#3679)
558151061 [wpiutil] Add DsClient (#3654)
181723e57 Replace `.to<double>()` and `.template to<double>()` with `.value()` (#3667)
6bc1db44b [commands] Add pointer overload of AddRequirements (artf6003) (#3669)
737b57ed5 [wpimath] Update to drake v0.35.0 (#3665)
4d287d1ae [build] Upgrade WPIJREArtifact to JRE 2022-11.0.12u5 (#3666)
f26eb5ada [hal] Fix another typo (get -> gets) (NFC) (#3663)
94ed275ba [hal] Fix misspelling (numer -> number) (NFC) (#3662)
ac2f44da3 [wpiutil] uv: use move for std::function (#3653)
75fa1fbfb [wpiutil] json::serializer: Optimize construction (#3647)
5e689faea [wpiutil] Import MessagePack implementation (mpack) (#3650)
649a50b40 [wpiutil] Add LEB128 byte-by-byte reader (#3652)
e94397a97 [wpiutil] Move json_serializer.h to public headers (#3646)
4ec58724d [wpiutil] uv::Tcp: Clarify SetNoDelay documentation (#3649)
8cb294aa4 [wpiutil] WebSocket: Make Shutdown() public (#3651)
2b3a9a52b [wpiutil] json: Fix map iterator key() for std::string_view (#3645)
138cbb94b [wpiutil] uv::Async: Add direct call for no-parameter specialization (#3648)
e56d6dea8 [ci] Update testbench pool image to ubuntu-latest (#3643)
43f30e44e [build] Enable comments in doxygen source files (#3644)
9e6db17ef [build] Enable doxygen preprocessor expansion of WPI_DEPRECATED (#3642)
0e631ad2f Add WPILib version to issue template (#3641)
6229d8d2f [build] Docs: set case_sense_names to false (#3392)
4647d09b5 [docs] Fix Doxygen warnings, add CI docs lint job (#3639)
4ad3a5402 [hal] Fix PWM allocation channel (#3637)
05e5feac4 [docs] Fix brownout docs (NFC) (#3638)
67df469c5 [examples] Remove old command-based templates and examples (#3263)
689e9ccfb [hal, wpilib] Add brownout voltage configuration (#3632)
9cd4bc407 [docs] Add useLocal to avoid using installer artifacts (#3634)
61996c2bb [cscore] Fix Java direct callback notifications (#3631)
6d3dd99eb [build] Update to newest native-utils (#3633)
f0b484892 [wpiutil] Fix StringMap iterator equality check (#3629)
8352cbb7a Update development build instructions for 2022 (#3616)
6da08b71d [examples] Fix Intermediate Vision Java Example description (#3628)
5d99059bf [wpiutil] Remove optional.h (#3627)
fa41b106a [glass, wpiutil] Add missing format args (#3626)
4e3fd7d42 [build] Enable Zc:__cplusplus for Windows (#3625)
791d8354d [build] Suppress deprecation/removal warnings for old commands (#3618)
10f19e6fc [hal, wpilib] Add REV PneumaticsHub (#3600)
4c61a1305 [ntcore] Revert to per-element copy for toNative() (#3621)
7b3f62244 [wpiutil] SendableRegistry: Print exception stacktrace (#3620)
d347928e4 [hal] Use better error for when console out is enabled while attempting to use onboard serial port (#3622)
cc31079a1 [hal] Use setcap instead of setuid for setting thread priorities (#3613)
4676648b7 [wpimath] Upgrade to Drake v0.34.0 (#3607)
c7594c911 [build] Allow building wpilibc in cmake without cscore and opencv (#3605)
173cb7359 [wpilib] Add TimesliceRobot (#3502)
af295879f [hal] Set error status for I2C port out of range (#3603)
95dd20a15 [build] Enable spotbugs (#3601)
b65fce86b [wpilib] Remove Timer lock in wpilibj and update docs (#3602)
3b8d3bbcb Remove unused and add missing deprecated.h includes (#3599)
f9e976467 [examples] Rename DriveTrain classes to Drivetrain (#3594)
118a27be2 [wpilib] Add Timer tests (#3595)
59c89428e [wpilib] Deprecate Timer::HasPeriodPassed() (#3598)
202ca5e78 Force C++17 in .clang-format (#3597)
d6f185d8e Rename tests for consistency (#3592)
54ca474db [ci] Enable asan and tsan in CI for tests that pass (#3591)
1ca383b23 Add Debouncer (#3590)
179fde3a7 [build] Update to 2022 native utils and gradle 7 (#3588)
50198ffcf [examples] Add Mechanism2d visualization to Elevator Sim (#3587)
a446c2559 [examples] Synchronize C++ and Java Mechanism2d examples (#3589)
a7fb83103 [ci] clang-tidy: Generate compilation commands DB with Gradle (#3585)
4f5e0c9f8 [examples] Update ArmSimulation example to use Mechanism2d (#3572)
8164b91dc [CI] Print CMake test output on failure (#3583)
4d5fca27e [wpilib] Impove Mechanism2D documentation (NFC) (#3584)
fe59e4b9f Make C++ test names more consistent (#3586)
5c8868549 [wpilibc] Fix C++ MechanisimRoot2D to use same NT entries as Java/Glass (#3582)
9359431ba [wpimath] Clean up Eigen usage
72716f51c [wpimath] Upgrade to Eigen 3.4
382deef75 [wpimath] Explicitly export wpimath symbols
161e21173 [ntcore] Match standard handle layout, only allow 16 instances (#3577)
263a24811 [wpimath] Use jinja for codegen (#3574)
725251d29 [wpilib] Increase tolerances of DifferentialDriveSimTest (#3581)
4dff87301 [wpimath] Make LinearFilter::Factorial() constexpr (#3579)
60ede67ab [hal, wpilib] Switch PCM to be a single object that is allowed to be duplicated (#3475)
906bfc846 [build] Add CMake build support for sanitizers (#3576)
0d4f08ad9 [hal] Simplify string copy of joystick name (#3575)
a52bf87b7 [wpiutil] Add Java function package (#3570)
40c7645d6 [wpiutil] UidVector: Return old object from erase() (#3571)
5b886a23f [wpiutil] jni_util: Add size, operator[] to JArrayRef (#3569)
65797caa7 [sim] Fix halsim_ds_socket stringop overflow warning from GCC 10 (#3568)
66abb3988 [hal] Update runtime enum to allow selecting roborio 2 (#3565)
95a12e0ee [hal] UidSetter: Don't revert euid if its already current value (#3566)
27951442b [wpimath] Use external Eigen headers only (#3564)
c42e053ae [docs] Update to doxygen 1.9.2 (#3562)
e7048c8c8 [docs] Disable doxygen linking for common words that are also classes (#3563)
d8e0b6c97 [wpilibj] Fix java async interrupts (#3559)
5e6c34c61 Update to 2022 roborio image (#3537)
828f073eb [wpiutil] Fix uv::Buffer memory leaks caught by asan (#3555)
2dd5701ac [cscore] Fix mutex use-after-free in cscore test (#3557)
531439198 [ntcore] Fix NetworkTables memory leaks caught by asan (#3556)
3d9a4d585 [wpilibc] Fix AnalogTriggerOutput memory leak reported by asan (#3554)
54eda5928 [wpiutil] Ignore ubsan vptr upcast warning in SendableHelper moves (#3553)
5a4f75c9f [wpilib] Replace Speed controller comments with motor controller (NFC) (#3551)
7810f665f [wpiutil] Fix bug in uleb128 (#3540)
697e2dd33 [wpilib] Fix errant jaguar reference in comments (NFC) (#3550)
936c64ff5 [docs] Enable -linksource for javadocs (#3549)
1ea654954 [build] Upgrade CMake build to googletest 1.11.0 (#3548)
32d9949e4 [wpimath] Move controller tests to wpimath (#3541)
01ba56a8a [hal] Replace strncpy with memcpy (#3539)
e109c4251 [build] Rename makeSim flag to forceGazebo to better describe what it does (#3535)
e4c709164 [docs] Use a doxygen theme and add logo (#3533)
960b6e589 [wpimath] Fix Javadoc warning (#3532)
82eef8d5e [hal] Remove over current fault HAL functions from REV PDH (#3526)
aa3848b2c [wpimath] Move RobotDriveBase::ApplyDeadband() to MathUtil (#3529)
3b5d0d141 [wpimath] Add LinearFilter::BackwardFiniteDifference() (#3528)
c8fc715fe [wpimath] Upgrade drake files to v0.33.0 (#3531)
e5fe3a8e1 [build] Treat javadoc warnings as errors in CI and fix warnings (#3530)
e0c6cd3dc [wpimath] Add an operator for composing two Transform2ds (#3527)
2edd510ab [sim] Add sim wrappers for sensors that use SimDevice (#3517)
2b3e2ebc1 [hal] Fix HAL Notifier thread priority setting (#3522)
ab4cb5932 [gitignore] Update gitignore to ignore bazel / clion files (#3524)
57c8615af [build] Generate spotless patch on failure (#3523)
b90317321 Replace std::cout and std::cerr with fmt::print() (#3519)
10cc8b89c [hal] [wpilib] Add initial support for the REV PDH (#3503)
5d9ae3cdb [hal] Set HAL Notifier thread as RT by default (#3482)
192d251ee [wpilibcIntegrationTests] Properly disable DMA integration tests (#3514)
031962608 [wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)
25f6f478a [wpilib] Rename DriverStation::IsOperatorControl() to IsTeleop() (#3505)
e80f09f84 [wpilibj] Add unit tests (#3501)
c159f91f0 [wpilib] Only read DS control word once in IterativeRobotBase (#3504)
eb790a74d Add rio development docs documenting myRobot deploy tasks (#3508)
e47451f5a [wpimath] Replace auto with Eigen types (#3511)
252b8c83b Remove Java formatting from build task in CI (#3507)
09666ff29 Shorten Gazebo CI build (#3506)
baf2e501d Update myRobot to use 2021 java (#3509)
5ac60f0a2 [wpilib] Remove IterativeRobotBase mode init prints (#3500)
fb2ee8ec3 [wpilib] Add TimedRobot functions for running code on mode exit (#3499)
94e0db796 [wpilibc] Add more unit tests (#3494)
b25324695 [wpilibj] Add units to parameter names (NFC) (#3497)
1ac73a247 [hal] Rename PowerDistributionPanel to PowerDistribution (#3466)
2014115bc [examples] frisbeebot: Fix typo and reflow comments (NFC) (#3498)
4a944dc39 [examples] Consistently use 0 for controller port (#3496)
3838cc4ec Use unicode characters in docs equations (#3487)
85748f2e6 [examples] Add C++ TankDrive example (#3493)
d7b8aa56d [wpilibj] Rename DriverStation In[Mode] functions to follow style guide (#3488)
16e096cf8 [build] Fix CMake Windows CI (#3490)
50af74c38 [wpimath] Clean up NumericalIntegration and add Discretization tests (#3489)
bfc209b12 Automate fmt update (#3486)
e7f9331e4 [build] Update to Doxygen 1.9.1 (#3008)
ab8e8aa2a [wpimath] Update drake with upstream (#3484)
1ef826d1d [wpimath] Fix IOException path in WPIMath JNI (#3485)
52bddaa97 [wpimath] Disable iostream support for units and enable fmtlib (#3481)
e4dc3908b [wpiutil] Upgrade to fmtlib 8.0.1 (#3483)
1daadb812 [wpimath] Implement Dormand-Prince integration method (#3476)
9c2723391 [cscore] Add [[nodiscard]] to GrabFrame functions (#3479)
7a8796414 [wpilib] Add Notifier integration tests (#3480)
f8f13c536 [wpilibcExamples] Prefix decimal numbers with 0 (#3478)
1adb69c0f [ntcore] Use "NetworkTables" instead of "Network Tables" in NT specs (#3477)
5f5830b96 Upload wpiformat diff if one exists (#3474)
9fb4f35bb [wpimath] Add tests for DARE overload with Q, R, and N matrices (#3472)
c002e6f92 Run wpiformat (#3473)
c154e5262 [wpilib] Make solenoids exclusive use, PCM act like old sendable compressor (#3464)
6ddef1cca [hal] JNI setDIO: use a boolean and not a short (#3469)
9d68d9582 Remove extra newlines after open curly braces (NFC) (#3471)
a4233e1a1 [wpimath] Add script for updating Drake (#3470)
39373c6d2 Update README.md for new GCC version requirement (#3467)
d29acc90a [wpigui] Add option to reset UI on exit (#3463)
a371235b0 [ntcore] Fix dangling pointer in logger (#3465)
53b4891a5 [wpilibcintegrationtests] Fix deprecated Preferences usage (#3461)
646ded912 [wpimath] Remove incorrect discretization in pose estimators (#3460)
ea0b8f48e Fix some deprecation warnings due to fmtlib upgrade (#3459)
2067d7e30 [wpilibjexamples] Add wpimathjni, wpiutiljni to library path (#3455)
866571ab4 [wpiutil] Upgrade to fmtlib 8.0.0 (#3457)
4e1fa0308 [build] Skip PDB copy on windows build servers (#3458)
b45572167 [build] Change CI back to 18.04 docker images (#3456)
57a160f1b [wpilibc] Fix LiveWindow deprecation warning in RobotBase skeleton template (#3454)
29ae8640d [HLT] Implement duty cycle cross connect tests (#3453)
ee6377e54 [HLT] Add relay and analog cross connects (#3452)
b0f1ae7ea [build] CMake: Build the HAL even if WITH_CSCORE=OFF (#3449)
7aae2b72d Replace std::to_string() with fmt::format() (#3451)
73fcbbd74 [HLT] Add relay digital cross connect tests (#3450)
e7bedde83 [HLT] Add PWM tests that use DMA as the back end (#3447)
7253edb1e [wpilibc] Timer: Fix deprecated warning (#3446)
efa28125c [wpilibc] Add message to RobotBase on how to read stacktrace (#3444)
9832fcfe1 [hal] Fix DIO direction getter (#3445)
49c71f9f2 [wpilibj] Clarify robot quit message (#3364)
791770cf6 [wpimath] Move controller from wpilibj to wpimath (#3439)
9ce9188ff [wpimath] Add ReportWarning to MathShared (#3441)
362066a9b [wpilib] Deprecate getInstance() in favor of static functions (#3440)
26ff9371d Initial commit of cross connect integration test project (#3434)
4a36f86c8 [hal] Add support for DMA to Java (#3158)
85144e47f [commands] Unbreak build (#3438)
b417d961e Split Sendable into NT and non-NT portions (#3432)
ef4ea84cb [commands] Change grouping decorator impl to flatten nested group structures (#3335)
b422665a3 [examples] Invert right side of drive subsystems (#3437)
186dadf14 [hal] Error if attempting to set DIO output on an input port (#3436)
04e64db94 Remove redundant C++ lambda parentheses (NFC) (#3433)
f60994ad2 [wpiutil] Rename Java package to edu.wpi.first.util (#3431)
cfa1ca96f [wpilibc] Make ShuffleboardValue non-copyable (#3430)
4d9ff7643 Fix documentation warnings generated by JavaDoc (NFC) (#3428)
9e1b7e046 [build] Fix clang-tidy and clang-format (#3429)
a77c6ff3a [build] Upgrade clang-format and clang-tidy (NFC) (#3422)
099fde97d [wpilib] Improve PDP comments (NFC) (#3427)
f8fc2463e [wpilibc, wpiutil] Clean up includes (NFC) (#3426)
e246b7884 [wpimath] Clean up member initialization in feedforward classes (#3425)
c1e128bd5 Disable frivolous PMD warnings and enable PMD in ntcore (#3419)
8284075ee Run "Lint and Format" CI job on push as well as pull request (#3412)
f7db09a12 [wpimath] Move C++ filters into filter folder to match Java (#3417)
f9c3d54bd [wpimath] Reset error covariance in pose estimator ResetPosition() (#3418)
0773f4033 [hal] Ensure HAL status variables are initialized to zero (#3421)
d068fb321 [build] Upgrade CI to use 20.04 docker images (#3420)
8d054c940 [wpiutil] Remove STLExtras.h
80f1d7921 [wpiutil] Split function_ref to a separate header
64f541325 Use wpi::span instead of wpi::ArrayRef across all libraries (#3414)
2abbbd9e7 [build] clang-tidy: Remove bugprone-exception-escape (#3415)
a5c471af7 [wpimath] Add LQR template specialization for 2x2 system
edd2f0232 [wpimath] Add DARE solver for Q, R, and N with LQR ctor overloads
b2c3b2dd8 Use std::string_view and fmtlib across all libraries (#3402)
4f1cecb8e [wpiutil] Remove Path.h (#3413)
b336eac34 [build] Publish halsim_ws_core to Maven
2a09f6fa4 [build] Also build sim modules as static libraries
0e702eb79 [hal] Add a unified PCM object (#3331)
dea841103 [wpimath] Add fmtlib formatter overloads for Eigen::Matrix and units (#3409)
82856cf81 [wpiutil] Improve wpi::circular_buffer iterators (#3410)
8aecda03e [wpilib] Fix a documentation typo (#3408)
5c817082a [wpilib] Remove InterruptableSensorBase and replace with interrupt classes (#2410)
15c521a7f [wpimath] Fix drivetrain system identification (#3406)
989de4a1b [build] Force all linker warnings to be fatal for rio builds (#3407)
d9eeb45b0 [wpilibc] Add units to Ultrasonic class API (#3403)
fe570e000 [wpiutil] Replace llvm filesystem with C++17 filesystem (#3401)
01dc0249d [wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399)
93523d572 [wpilibc] Clean up integration tests (#3400)
4f7a4464d [wpiutil] Rewrite StringExtras for std::string_view (#3394)
e09293a15 [wpilibc] Transition C++ classes to units::second_t (#3396)
827b17a52 [build] Create run tasks for Glass and OutlineViewer (#3397)
a61037996 [wpiutil] Avoid MSVC warning on span include (#3393)
4e2c3051b [wpilibc] Use std::string_view instead of Twine (#3380)
50915cb7e [wpilibc] MotorSafety::GetDescription(): Return std::string (#3390)
f4e2d26d5 [wpilibc] Move NullDeleter from frc/Base.h to wpi/NullDeleter.h (#3387)
cb0051ae6 [wpilibc] SimDeviceSim: use fmtlib (#3389)
a238cec12 [wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383)
393bf23c0 [ntcore, cscore, wpiutil] Standardize template impl files on .inc extension (NFC) (#3124)
e7d9ba135 [sim] Disable flaky web server integration tests (#3388)
0a0003c11 [wpilibjExamples] Fix name of Java swerve drive pose estimator example (#3382)
7e1b27554 [wpilibc] Use default copies and moves when possible (#3381)
fb2a56e2d [wpilibc] Remove START_ROBOT_CLASS macro (#3384)
84218bfb4 [wpilibc] Remove frc namespace shim (#3385)
dd7824340 [wpilibc] Remove C++ compiler version static asserts (#3386)
484cf9c0e [wpimath] Suppress the -Wmaybe-uninitialized warning in Eigen (#3378)
a04d1b4f9 [wpilibc] DriverStation: Remove ReportError and ReportWarning
831c10bdf [wpilibc] Errors: Use fmtlib
87603e400 [wpiutil] Import fmtlib (#3375)
442621672 [wpiutil] Add ArrayRef/std::span/wpi::span implicit conversions
bc15b953b [wpiutil] Add std::span implementation
6d20b1204 [wpiutil] StringRef, Twine, raw_ostream: Add std::string_view support (#3373)
2385c2a43 [wpilibc] Remove Utility.h (#3376)
87384ea68 [wpilib] Fix PIDController continuous range error calculations (#3170)
04dae799a [wpimath] Add SimpleMotorFeedforward::Calculate(velocity, nextVelocity) overload (#3183)
0768c3903 [wpilib] DifferentialDrive: Remove right side inversion (#3340)
8dd8d4d2d [wpimath] Fix redundant nested math package introduced by #3316 (#3368)
49b06beed [examples] Add Field2d to RamseteController example (#3371)
4c562a445 [wpimath] Fix typo in comment of update_eigen.py (#3369)
fdbbf1188 [wpimath] Add script for updating Eigen
f1e64b349 [wpimath] Move Eigen unsupported folder into eigeninclude
224f3a05c [sim] Fix build error when building with GCC 11.1 (#3361)
ff56d6861 [wpilibj] Fix SpeedController deprecated warnings (#3360)
1873fbefb [examples] Fix Swerve and Mecanum examples (#3359)
80b479e50 [examples] Fix SwerveBot example to use unique encoder ports (#3358)
1f7c9adee [wpilibjExamples] Fix pose estimator examples (#3356)
9ebc3b058 [outlineviewer] Change default size to 600x400 (#3353)
e21b443a4 [build] Gradle: Make C++ examples runnable (#3348)
da590120c [wpilibj] Add MotorController.setVoltage default (#3347)
561d53885 [build] Update opencv to 4.5.2, imgui/implot to latest (#3344)
44ad67ca8 [wpilibj] Preferences: Add missing Deprecated annotation (#3343)
3fe8fc75a [wpilibc] Revert "Return reference from GetInstance" (#3342)
3cc2da332 Merge branch '2022'
a3cd90dd7 [wpimath] Fix classpath used by generate_numbers.py (#3339)
d6cfdd3ba [wpilib] Preferences: Deprecate Put* in favor of Set* (#3337)
ba08baabb [wpimath] Update Drake DARE solver to v0.29.0 (#3336)
497b712f6 [wpilib] Make IterativeRobotBase::m_period private with getter
f00dfed7a [wpilib] Remove IterativeRobot base class
3c0846168 [hal] Use last error reporting instead of PARAMETER_OUT_OF_RANGE (#3328)
5ef2b4fdc [wpilibj] Fix @deprecated warning for SerialPort constructor (#3329)
23d2326d1 [hal] Report previous allocation location for indexed resource duplicates (#3322)
e338f9f19 [build] Fix wpilibc runCpp task (#3327)
c8ff626fe [wpimath] Move Java classes to edu.wpi.first.math (#3316)
4e424d51f [wpilibj] DifferentialDrivetrainSim: Rename constants to match the style guide (#3312)
6b50323b0 [cscore] Use Lock2DSize if possible for Windows USB cameras (#3326)
65c148536 [wpilibc] Fix "control reaches end of non-void function" warning (#3324)
f99f62bee [wpiutil] uv Handle: Use malloc/free instead of new/delete (#3325)
365f5449c [wpimath] Fix MecanumDriveKinematics (#3266)
ff52f207c [glass, wpilib] Rewrite Mechanism2d (#3281)
ee0eed143 [wpimath] Add DCMotor factory function for Romi motors (#3319)
512738072 [hal] Add HAL_GetLastError to enable better error messages from HAL calls (#3320)
ced654880 [glass, outlineviewer] Update Mac icons to macOS 11 style (#3313)
936d3b9f8 [templates] Add Java template for educational robot (#3309)
6e31230ad [examples] Fix odometry update in SwerveControllerCommand example (#3310)
05ebe9318 Merge branch 'main' into 2022
aaf24e255 [wpilib] Fix initial heading behavior in HolonomicDriveController (#3290)
8d961dfd2 [wpilibc] Remove ErrorBase (#3306)
659b37ef9 [wpiutil] StackTrace: Include offset on Linux (#3305)
0abf6c904 [wpilib] Move motor controllers to motorcontrol package (#3302)
4630191fa [wpiutil] circular_buffer: Use value initialization instead of passing zero (#3303)
b7b178f49 [wpilib] Remove Potentiometer interface
687066af3 [wpilib] Remove GyroBase
6b168ab0c [wpilib] Remove PIDController, PIDOutput, PIDSource
948625de9 [wpimath] Document conversion from filter cutoff frequency to time constant (#3299)
3848eb8b1 [wpilibc] Fix flywhel -> flywheel typo in FlywheelSim (#3298)
3abe0b9d4 [cscore] Move java package to edu.wpi.first.cscore (#3294)
d7fabe81f [wpilib] Remove RobotDrive (#3295)
1dc81669c [wpilib] Remove GearTooth (#3293)
01d0e1260 [wpilib] Revert move of RomiGyro into main wpilibc/j (#3296)
397e569aa [ntcore] Remove "using wpi" from nt namespace
79267f9e6 [ntcore] Remove NetworkTable -> nt::NetworkTable shim
48ebe5736 [ntcore] Remove deprecated Java interfaces and classes
c2064c78b [ntcore] Remove deprecated ITable interfaces
36608a283 [ntcore] Remove deprecated C++ APIs
a1c87e1e1 [glass] LogView: Add "copy to clipboard" button (#3274)
fa7240a50 [wpimath] Fix typo in quintic spline basis matrix
ffb4d38e2 [wpimath] Add derivation for spline basis matrices
f57c188f2 [wpilib] Add AnalogEncoder(int) ctor (#3273)
8471c4fb2 [wpilib] FieldObject2d: Add setTrajectory() method (#3277)
c97acd18e [glass] Field2d enhancements (#3234)
ffb590bfc [wpilib] Fix Compressor sendable properties (#3269)
6137f98eb [hal] Rename SimValueCallback2 to SimValueCallback (#3212)
a6f653969 [hal] Move registerSimPeriodic functions to HAL package (#3211)
10c038d9b [glass] Plot: Fix window creation after removal (#3264)
2d2eaa3ef [wpigui] Ensure window will be initially visible (#3256)
4d28b1f0c [wpimath] Use JNI for trajectory serialization (#3257)
3de800a60 [wpimath] TrajectoryUtil.h: Comment formatting (NFC) (#3262)
eff592377 [glass] Plot: Don't overwrite series ID (#3260)
a79faace1 [wpilibc] Return reference from GetInstance (#3247)
9550777b9 [wpilib] PWMSpeedController: Use PWM by composition (#3248)
c8521a3c3 [glass] Plot: Set reasonable default window size (#3261)
d71eb2cf3 [glass] Plot: Show full source name as tooltip and in popup (#3255)
160fb740f [hal] Use std::lround() instead of adding 0.5 and truncating (#3012)
48e9f3951 [wpilibj] Remove wpilibj package CameraServer (#3213)
8afa596fd [wpilib] Remove deprecated Sendable functions and SendableBase (#3210)
d3e45c297 [wpimath] Make C++ geometry classes immutable (#3249)
2c98939c1 [glass] StringChooser: Don't call SameLine() at end
a18a7409f [glass] NTStringChooser: Clear value of deleted entries
2f19cf452 [glass] NetworkTablesHelper: listen to delete events
da96707dc Merge branch 'main' into 2022
c3a8bdc24 [build] Fix clang-tidy action (#3246)
21624ef27 Add ImGui OutlineViewer (#3220)
1032c9b91 [wpiutil] Unbreak wpi::Format on Windows (#3242)
2e07902d7 [glass] NTField2D: Fix name lookup (#3233)
6e23e1840 [wpilibc] Remove WPILib.h (#3235)
3e22e4506 [wpilib] Make KoP drivetrain simulation weight 60 lbs (#3228)
79d1bd6c8 [glass] NetworkTablesSetting: Allow disable of server option (#3227)
fe341a16f [examples] Use more logical elevator setpoints in GearsBot (#3198)
62abf46b3 [glass] NetworkTablesSettings: Don't block GUI (#3226)
a95a5e0d9 [glass] Move NetworkTablesSettings to libglassnt (#3224)
d6f6ceaba [build] Run Spotless formatter (NFC) (#3221)
0922f8af5 [commands] CommandScheduler.requiring(): Note return can be null (NFC) (#2934)
6812302ff [examples] Make DriveDistanceOffboard example work in sim (#3199)
f3f86b8e7 [wpimath] Add pose estimator overload for vision + std dev measurement (#3200)
1a2680b9e [wpilibj] Change CommandBase.withName() to return CommandBase (#3209)
435bbb6a8 [command] RamseteCommand: Output 0 if interrupted (#3216)
3cf44e0a5 [hal] Add function for changing HAL Notifier thread priority (#3218)
40b367513 [wpimath] Units.java: Add kg-lb conversions (#3203)
9f563d584 [glass] NT: Fix return value in StringToDoubleArray (#3208)
af4adf537 [glass] Auto-size plots to fit window (#3193)
2560146da [sim] GUI: Add option to show prefix in Other Devices (#3186)
eae3a6397 gitignore: Ignore .cache directory (#3196)
959611420 [wpilib] Require non-zero positive value for PIDController.period (#3175)
9522f2e8c [wpimath] Add methods to concatenate trajectories (#3139)
e42a0b6cf [wpimath] Rotation2d comment formatting (NFC) (#3162)
d1c7032de [wpimath] Fix order of setting gyro offset in pose estimators (#3176)
d241bc81a [sim] Add DoubleSolenoidSim and SolenoidSim classes (#3177)
cb7f39afa [wpilibc] Add RobotController::GetBatteryVoltage() to C++ (#3179)
99b5ad9eb [wpilibj] Fix warnings that are not unused variables or deprecation (#3161)
c14b23775 [build] Fixup doxygen generated include dirs to match what users would need (#3154)
d447c7dc3 [sim] Add SimDeviceSim ctor overloads (#3134)
247420c9c [build] Remove jcenter repo (#3157)
04b112e00 [build] Include debug info in plugin published artifacts (#3149)
be0ce9900 [examples] Use PWMSparkMax instead of PWMVictorSPX (#3156)
69e8d0b65 [wpilib] Move RomiGyro into main wpilibc/j (#3143)
94e685e1b [wpimath] Add custom residual support to EKF (#3148)
5899f3dd2 [sim] GUI: Make keyboard settings loading more robust (#3167)
f82aa1d56 [wpilib] Fix HolonomicDriveController atReference() behavior (#3163)
fe5c2cf4b [wpimath] Remove ControllerUtil.java (#3169)
43d40c6e9 [wpiutil] Suppress unchecked cast in CombinedRuntimeLoader (#3155)
3d44d8f79 [wpimath] Fix argument order in UKF docs (NFC) (#3147)
ba6fe8ff2 [cscore] Add USB camera change event (#3123)
533725888 [build] Tweak OpenCV cmake search paths to work better on Linux (#3144)
29bf9d6ef [cscore] Add polled support to listener
483beb636 [ntcore] Move CallbackManager to wpiutil
fdaec7759 [examples] Instantiate m_ramseteController in example (#3142)
8494a5761 Rename default branch to main (#3140)
45590eea2 [wpigui] Hardcode window scale to 1 on macOS (#3135)
834a64920 [build] Publish libglass and libglassnt to Maven (#3127)
2c2ccb361 [wpimath] Fix Rotation2d equality operator (#3128)
fb5c8c39a [wpigui] clang-tidy: readability-braces-around-statements
f7d39193a [wpigui] Fix copyright in pfd and wpigui_metal.mm
aec796b21 [ntcore] Fix conditional jump on uninitialized value (#3125)
fb13bb239 [sim] GUI: Add right click popup for keyboard joystick settings (#3119)
c517ec677 [build] Update thirdparty-imgui to 1.79-2 (#3118)
e8cbf2a71 [wpimath] Fix typo in SwerveDrivePoseEstimator doc (NFC) (#3112)
e9c86df46 [wpimath] Add tests for swerve module optimization (#3100)
6ba8c289c [examples] Remove negative of ArcadeDrive(fwd, ..) in the C++ Getting Started Example (#3102)
3f1672e89 [hal] Add SimDevice createInt() and createLong() (#3110)
15be5cbf1 [examples] Fix segfault in GearsBot C++ example (#3111)
4cf0e5e6d Add quick links to API documentation in README (#3082)
6b1898f12 Fix RT priority docs (NFC) (#3098)
b3426e9c0 [wpimath] Fix missing whitespace in pose estimator doc (#3097)
38c1a1f3e [examples] Fix feildRelative -> fieldRelative typo in XControllerCommand examples (#3104)
4488e25f1 [glass] Shorten SmartDashboard window names (#3096)
cfdb3058e [wpilibj] Update SimDeviceSimTest (#3095)
64adff5fe [examples] Fix typo in ArcadeDrive constructor parameter name (#3092)
6efc58e3d [build] Fix issues with build on windows, deprecations, and native utils (#3090)
f393989a5 [wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)
d6ed20c1e [build] Set macOS deployment target to 10.14 (#3088)
7c524014c [hal] Add [[nodiscard]] to HAL_WaitForNotifierAlarm() (#3085)
406d055f0 [wpilib] Fixup wouldHitLowerLimit in elevator and arm simulation classes. (#3076)
04a90b5dd [examples] Don't continually set setpoint in PotentiometerPID Examples (#3084)
8c5bfa013 [sim] GUI: Add max value setting for keyboard joysticks (#3083)
bc80c5535 [hal] Add SimValue reset() function (#3064)
9c3b51ca0 [wpilib] Document simulation APIs (#3079)
26584ff14 [wpimath] Add model description to LinearSystemId Javadocs (#3080)
42c3d5286 [examples] Sync Java and C++ trajectories in sim example (#3081)
64e72f710 [wpilibc] Add missing function RoboRioSim::ResetData (#3073)
e95503798 [wpimath] Add optimize() to SwerveModuleState (#3065)
fb99910c2 [hal] Add SimInt and SimLong wrappers for int/long SimValue (#3066)
e620bd4d3 [doc] Add machine-readable websocket specification (#3059)
a44e761d9 [glass] Add support for plot Y axis labels
ea1974d57 [wpigui] Update imgui and implot to latest
85a0bd43c [wpimath] Add RKF45 integration (#3047)
278e0f126 [glass] Use .controllable to set widgets' read-only state (#3035)
d8652cfd4 [wpimath] Make Java DCMotor API consistent with C++ and fix motor calcs (#3046)
377b7065a [build] Add toggleOffOn to Java spotless (#3053)
1e9c79c58 [sim] Use plant output to retrieve simulated position (#3043)
78147aa34 [sim] GUI: Fix Keyboard Joystick (#3052)
cd4a2265b [ntcore] Fix NetworkTableEntry::GetRaw() (#3051)
767ac1de1 [build] Use deploy key for doc publish (#3048)
d762215d1 [build] Add publish documentation script (#3040)
1fd09593c [examples] Add missing TestInit method to GettingStarted Example (#3039)
e45a0f6ce [examples] Add RomiGyro to the Romi Reference example (#3037)
94f852572 Update imaging link and fix typo (#3038)
d73cf64e5 [examples] Update RomiReference to match motor directions (#3036)
f945462ba Bump copyright year to 2021 (#3033)
b05946175 [wpimath] Catch Drake JNI exceptions and rethrow them (#3032)
62f0f8190 [wpimath] Deduplicate angle modulus functions (#2998)
bf8c0da4b [glass] Add "About" popup with version number (#3031)
dfdd6b389 [build] Increase Gradle heap size in Gazebo build (#3028)
f5e0fc3e9 Finish clang-tidy cleanups (#3003)
d741101fe [sim] Revert accidental commit of WSProvider_PDP.h (#3027)
e1620799c [examples] Add C++ RomiReference example (#2969)
749c7adb1 [command] Fix use-after-free in CommandScheduler (#3024)
921a73391 [sim] Add WS providers for AddressableLED, PCM, and Solenoid (#3026)
26d0004fe [build] Split Actions into different yml files (#3025)
948af6d5b [wpilib] PWMSpeedController.get(): Apply Inversion (#3016)
670a187a3 [wpilibc] SuppliedValueWidget.h: Forward declare ShuffleboardContainer (#3021)
be9f72502 [ntcore] NetworkTableValue: Use std::forward instead of std::move (#3022)
daf3f4cb1 [cscore] cscore_raw_cv.h: Fix error in PutFrame() (#3019)
5acda4cc7 [wpimath] ElevatorFeedforward.h: Add time.h include
8452af606 [wpimath] units/radiation.h: Add mass.h include
630d44952 [hal] ErrorsInternal.h: Add stdint.h include
7372cf7d9 [cscore] Windows NetworkUtil.cpp: Add missing include
b7e46c558 Include .h from .inc/.inl files (NFC) (#3017)
bf8f8710e [examples] Update Romi template and example (#2996)
6ffe5b775 [glass] Ensure NetworkTableTree parent context menu has an id (#3015)
be0805b85 [build] Update to WPILibVersioningPlugin 4.1.0 (#3014)
65b2359b2 [build] Add spotless for other files (#3007)
8651aa73e [examples] Enable NT Flush in Field2d examples (#3013)
78b542737 [build] Add Gazebo build to Actions CI (#3004)
fccf86532 [sim] DriverStationGui: Fix two bugs (#3010)
185741760 [sim] WSProvider_Joystick: Fix off-by-1 in incoming buttons (#3011)
ee7114a58 [glass] Add drive class widgets (#2975)
00fa91d0d [glass] Use ImGui style for gyro widget colors (#3009)
b7a25bfc3 ThirdPartyNotices: Add portable file dialogs license (#3005)
a2e46b9a1 [glass] modernize-use-nullptr (NFC) (#3006)
a751fa22d [build] Apply spotless for java formatting (#1768)
e563a0b7d [wpimath] Make LinearSystemLoop move-constructible and move-assignable (#2967)
49085ca94 [glass] Add context menus to remove and add NetworkTables values (#2979)
560a850a2 [glass] Add NetworkTables Log window (#2997)
66782e231 [sim] Create Left/Right drivetrain current accessors (#3001)
b60eb1544 clang-tidy: bugprone-virtual-near-miss
cbe59fa3b clang-tidy: google-explicit-constructor
c97c6dc06 clang-tidy: google-readability-casting (NFC)
32fa97d68 clang-tidy: modernize-use-nullptr (NFC)
aee460326 clang-tidy: modernize-pass-by-value
29c7da5f1 clang-tidy: modernize-make-unique
6131f4e32 clang-tidy: modernize-concat-nested-namespaces (NFC)
67e03e625 clang-tidy: modernize-use-equals-default
b124f9101 clang-tidy: modernize-use-default-member-init
d11a3a638 clang-tidy: modernize-use-override (NFC)
4cc0706b0 clang-tidy: modernize-use-using (NFC)
885f5a978 [wpilibc] Speed up ScopedTracerTest (#2999)
60b596457 [wpilibj] Fix typos (NFC) (#3000)
6e1919414 [build] Bring naming checkstyle rules up to date with Google Style guide (#1781)
8c8ec5e63 [wpilibj] Suppress unchecked cast warnings (#2995)
b8413ddd5 [wpiutil] Add noexcept to timestamp static functions (#2994)
5d976b6e1 [glass] Load NetworkTableView settings on first draw (#2993)
2b4317452 Replace NOLINT(runtime/explicit) comments with NOLINT (NFC) (#2992)
1c3011ba4 [glass] Fix handling of "/" NetworkTables key (#2991)
574a42f3b [hal] Fix UnsafeManipulateDIO status check (#2987)
9005cd59e [wpilib] Clamp input voltage in sim classes (#2955)
dd494d4ab [glass] NetworkTablesModel::Update(): Avoid use-after-move (#2988)
7cca469a1 [wpimath] NormalizeAngle: Make inline, remove unnamed namespace (#2986)
2aed432b4 Add braces to C++ single-line loops and conditionals (NFC) (#2973)
0291a3ff5 [wpiutil] StringRef: Add noexcept to several constructors (#2984)
5d7315280 [wpimath] Update UnitsTest.cpp copyright (#2985)
254931b9a [wpimath] Remove LinearSystem from LinearSystemLoop (#2968)
aa89744c9 Update OtherVersions.md to include wpimath info (#2983)
1cda3f5ad [glass] Fix styleguide (#2976)
8f1f64ffb Remove year from file copyright message (NFC) (#2972)
2bc0a7795 [examples] Fix wpiformat warning about utility include (#2971)
4204da6ad [glass] Add application icon
7ac39b10f [wpigui] Add icon support
6b567e006 [wpimath] Add support for varying vision standard deviations in pose estimators (#2956)
df299d6ed [wpimath] Add UnscentedKalmanFilter::Correct() overload (#2966)
4e34f0523 [examples] Use ADXRS450_GyroSim class in simulation example (#2964)
9962f6fd7 [wpilib] Give Field2d a default Sendable name (#2953)
f9d492f4b [sim] GUI: Show "Other Devices" window by default (#2961)
a8bb2ef1c [sim] Fix ADXRS450_GyroSim and DutyCycleEncoderSim (#2963)
240c629cd [sim] Try to guess "Map Gamepad" setting (#2960)
952567dd3 [wpilibc] Add missing move constructors and assignment operators (#2959)
10b396b4c [sim] Various WebSockets fixes and enhancements (#2952)
699bbe21a [examples] Fix comments in Gearsbot to match implementation (NFC) (#2957)
27b67deca [glass] Add more widgets (#2947)
581b7ec55 [wpilib] Add option to flush NetworkTables every iterative loop
acfbb1a44 [ntcore] DispatcherBase::Flush: Use wpi::Now()
d85a6d8fe [ntcore] Reduce limit on flush and update rate to 5 ms
20fbb5c63 [sim] Fix stringop truncation warning from GCC 10 (#2945)
1051a06a7 [glass] Show NT timestamps in seconds (#2944)
98dfc2620 [glass] Fix plots (#2943)
1ba0a2ced [sim] GUI: Add keyboard virtual joystick support (#2940)
4afb13f98 [examples] Replace M_PI with wpi::math::pi (#2938)
b27d33675 [examples] Enhance Romi templates (#2931)
00b9ae77f [sim] Change default WS port number to 3300 (#2932)
65219f309 [examples] Update Field2d position in periodic() (#2928)
f78d1d434 [sim] Process WS Encoder reset internally (#2927)
941edca59 [hal] Add Java SimDeviceDataJNI.getSimDeviceName (#2924)
a699435ed [wpilibj] Fix FlywheelSim argument order in constructor (#2922)
66d641718 [examples] Add tasks to run Java examples (#2920)
558e37c41 [examples] Add simple differential drive simulation example (#2918)
4f40d991e [glass] Switch name of Glass back to glass (#2919)
549af9900 [build] Update native-utils to 2021.0.6 (#2914)
b33693009 [glass] Change basename of glass to Glass (#2915)
c9a0edfb8 [glass] Package macOS application bundle
2c5668af4 [wpigui] Add platform-specific preferences save
751dea32a [wpilibc] Try to work around ABI break introduced in #2901 (#2917)
cd8f4bfb1 [build] Package up msvc runtime into maven artifact (#2913)
a6cfcc686 [wpilibc] Move SendableChooser Doxygen comments to header (NFC) (#2911)
b8c4f603d [wpimath] Upgrade to Eigen 3.3.9 (#2910)
0075e4b39 [wpilibj] Fix NPE in Field2d (#2909)
125af556c [simulation] Fix halsim_gui ntcore and wpiutil deps (#2908)
963ad5c25 [wpilib] Add noise to Differential Drive simulator (#2903)
387f56cb7 [examples] Add Romi reference Java example and templates (#2905)
b3deda38c [examples] Zero motors on disabledInit() in sim physics examples (#2906)
2a5ca7745 [glass] Add glass: an application for display of robot data
727940d84 [wpilib] Move Field2d to SmartDashboard
8cd42478e [wpilib] SendableBuilder: Make GetTable() visible
c11d34b26 [command] Use addCommands in command group templates (#2900)
339d7445b [sim] Add HAL hooks for simulationPeriodic (#2881)
d16f05f2c [wpilib] Fix SmartDashboard update order (#2896)
5427b32a4 [wpiutil] unique_function: Restrict implicit conversion (#2899)
f73701239 [ntcore] Add missing SetDefault initializer_list functions (#2898)
f5a6fc070 [sim] Add initialized flag for all solenoids on a PCM (#2897)
bdf5ba91a [wpilibj] Fix typo in ElevatorSim (#2895)
bc8f33877 [wpilib] Add pose estimators (#2867)
3413bfc06 [wpilib] PIDController: Recompute the error in AtSetpoint() (#2822)
2056f0ce0 [wpilib] Fix bugs in Hatchbot examples (#2893)
5eb8cfd69 [wpilibc] Fix MatchDataSender (#2892)
e6a425448 [build] Delete test folders after tests execute (#2891)
d478ad00d [imgui] Allow usage of imgui_stdlib (#2889)
53eda861d [build] Add unit-testing infrastructure to examples (#2863)
cc1d86ba6 [sim] Add title to simulator GUI window (#2888)
f0528f00e [build] CMake: Use project-specific binary and source dirs (#2886)
5cd2ad124 [wpilibc] Add Color::operator!= (#2887)
6c00e7a90 [build] CI CMake: build with GUI enabled (#2884)
53170bbb5 Update roboRIO toolchain installation instructions (#2883)
467258e05 [sim] GUI: Add option to not zero disconnected joysticks (#2876)
129be23c9 Clarify JDK installation instructions in readme (#2882)
8e9290e86 [build] Add separate CMake setting for wpimath (#2885)
7cf5bebf8 [wpilibj] Cache NT writes from DriverStation (#2780)
f7f9087fb [command] Fix timing issue in RamseteCommand (#2871)
256e7904f [wpilibj] SimDeviceSim: Fix sim value changed callback (#2880)
c8ea1b6c3 [wpilib] Add function to adjust LQR controller gain for pure time delay (#2878)
2816b06c0 [sim] HAL_GetControlWord: Fully zero output (#2873)
4c695ea08 Add toolchain installation instructions to README (#2875)
a14d51806 [wpimath] DCMotor: fix doc typo (NFC) (#2868)
017097791 [build] CMake: build sim extensions as shared libs (#2866)
f61726b5a [build] Fix cmake-config files (#2865)
fc27fdac5 [wpilibc] Cache NT values from driver station (#2768)
47c59859e [sim] Make SimDevice callbacks synchronous (#2861)
6e76ab9c0 [build] Turn on WITH_GUI for Windows cmake CI
5f78b7670 [build] Set GLFW_INSTALL to OFF
5e0808c84 [wpigui] Fix Windows cmake build
508f05a47 [imgui] Fix typo in Windows CMake target sources
Change-Id: I1737b45965f31803a96676bedc7dc40e337aa321
git-subtree-dir: third_party/allwpilib
git-subtree-split: e473a00f9785f9949e5ced30901baeaf426d2fc9
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/wpilibOldCommands/src/main/native/cpp/PIDBase.cpp b/wpilibOldCommands/src/main/native/cpp/PIDBase.cpp
new file mode 100644
index 0000000..825d4eb
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/PIDBase.cpp
@@ -0,0 +1,358 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/PIDBase.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/PIDOutput.h"
+
+using namespace frc;
+
+template <class T>
+constexpr const T& clamp(const T& value, const T& low, const T& high) {
+ return std::max(low, std::min(value, high));
+}
+
+PIDBase::PIDBase(double Kp, double Ki, double Kd, PIDSource& source,
+ PIDOutput& output)
+ : PIDBase(Kp, Ki, Kd, 0.0, source, output) {}
+
+PIDBase::PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
+ PIDOutput& output) {
+ m_P = Kp;
+ m_I = Ki;
+ m_D = Kd;
+ m_F = Kf;
+
+ m_pidInput = &source;
+ m_filter = LinearFilter<double>::MovingAverage(1);
+
+ m_pidOutput = &output;
+
+ m_setpointTimer.Start();
+
+ static int instances = 0;
+ instances++;
+ HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
+ wpi::SendableRegistry::Add(this, "PIDController", instances);
+}
+
+double PIDBase::Get() const {
+ std::scoped_lock lock(m_thisMutex);
+ return m_result;
+}
+
+void PIDBase::SetContinuous(bool continuous) {
+ std::scoped_lock lock(m_thisMutex);
+ m_continuous = continuous;
+}
+
+void PIDBase::SetInputRange(double minimumInput, double maximumInput) {
+ {
+ std::scoped_lock lock(m_thisMutex);
+ m_minimumInput = minimumInput;
+ m_maximumInput = maximumInput;
+ m_inputRange = maximumInput - minimumInput;
+ }
+
+ SetSetpoint(m_setpoint);
+}
+
+void PIDBase::SetOutputRange(double minimumOutput, double maximumOutput) {
+ std::scoped_lock lock(m_thisMutex);
+ m_minimumOutput = minimumOutput;
+ m_maximumOutput = maximumOutput;
+}
+
+void PIDBase::SetPID(double p, double i, double d) {
+ {
+ std::scoped_lock lock(m_thisMutex);
+ m_P = p;
+ m_I = i;
+ m_D = d;
+ }
+}
+
+void PIDBase::SetPID(double p, double i, double d, double f) {
+ std::scoped_lock lock(m_thisMutex);
+ m_P = p;
+ m_I = i;
+ m_D = d;
+ m_F = f;
+}
+
+void PIDBase::SetP(double p) {
+ std::scoped_lock lock(m_thisMutex);
+ m_P = p;
+}
+
+void PIDBase::SetI(double i) {
+ std::scoped_lock lock(m_thisMutex);
+ m_I = i;
+}
+
+void PIDBase::SetD(double d) {
+ std::scoped_lock lock(m_thisMutex);
+ m_D = d;
+}
+
+void PIDBase::SetF(double f) {
+ std::scoped_lock lock(m_thisMutex);
+ m_F = f;
+}
+
+double PIDBase::GetP() const {
+ std::scoped_lock lock(m_thisMutex);
+ return m_P;
+}
+
+double PIDBase::GetI() const {
+ std::scoped_lock lock(m_thisMutex);
+ return m_I;
+}
+
+double PIDBase::GetD() const {
+ std::scoped_lock lock(m_thisMutex);
+ return m_D;
+}
+
+double PIDBase::GetF() const {
+ std::scoped_lock lock(m_thisMutex);
+ return m_F;
+}
+
+void PIDBase::SetSetpoint(double setpoint) {
+ {
+ std::scoped_lock lock(m_thisMutex);
+
+ if (m_maximumInput > m_minimumInput) {
+ if (setpoint > m_maximumInput) {
+ m_setpoint = m_maximumInput;
+ } else if (setpoint < m_minimumInput) {
+ m_setpoint = m_minimumInput;
+ } else {
+ m_setpoint = setpoint;
+ }
+ } else {
+ m_setpoint = setpoint;
+ }
+ }
+}
+
+double PIDBase::GetSetpoint() const {
+ std::scoped_lock lock(m_thisMutex);
+ return m_setpoint;
+}
+
+double PIDBase::GetDeltaSetpoint() const {
+ std::scoped_lock lock(m_thisMutex);
+ return (m_setpoint - m_prevSetpoint) / m_setpointTimer.Get().value();
+}
+
+double PIDBase::GetError() const {
+ double setpoint = GetSetpoint();
+ {
+ std::scoped_lock lock(m_thisMutex);
+ return GetContinuousError(setpoint - m_pidInput->PIDGet());
+ }
+}
+
+double PIDBase::GetAvgError() const {
+ return GetError();
+}
+
+void PIDBase::SetPIDSourceType(PIDSourceType pidSource) {
+ m_pidInput->SetPIDSourceType(pidSource);
+}
+
+PIDSourceType PIDBase::GetPIDSourceType() const {
+ return m_pidInput->GetPIDSourceType();
+}
+
+void PIDBase::SetTolerance(double percent) {
+ std::scoped_lock lock(m_thisMutex);
+ m_toleranceType = kPercentTolerance;
+ m_tolerance = percent;
+}
+
+void PIDBase::SetAbsoluteTolerance(double absTolerance) {
+ std::scoped_lock lock(m_thisMutex);
+ m_toleranceType = kAbsoluteTolerance;
+ m_tolerance = absTolerance;
+}
+
+void PIDBase::SetPercentTolerance(double percent) {
+ std::scoped_lock lock(m_thisMutex);
+ m_toleranceType = kPercentTolerance;
+ m_tolerance = percent;
+}
+
+void PIDBase::SetToleranceBuffer(int bufLength) {
+ std::scoped_lock lock(m_thisMutex);
+ m_filter = LinearFilter<double>::MovingAverage(bufLength);
+}
+
+bool PIDBase::OnTarget() const {
+ double error = GetError();
+
+ std::scoped_lock lock(m_thisMutex);
+ switch (m_toleranceType) {
+ case kPercentTolerance:
+ return std::fabs(error) < m_tolerance / 100 * m_inputRange;
+ break;
+ case kAbsoluteTolerance:
+ return std::fabs(error) < m_tolerance;
+ break;
+ case kNoTolerance:
+ // TODO: this case needs an error
+ return false;
+ }
+ return false;
+}
+
+void PIDBase::Reset() {
+ std::scoped_lock lock(m_thisMutex);
+ m_prevError = 0;
+ m_totalError = 0;
+ m_result = 0;
+}
+
+void PIDBase::PIDWrite(double output) {
+ SetSetpoint(output);
+}
+
+void PIDBase::InitSendable(wpi::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("PIDController");
+ builder.SetSafeState([=] { Reset(); });
+ builder.AddDoubleProperty(
+ "p", [=] { return GetP(); }, [=](double value) { SetP(value); });
+ builder.AddDoubleProperty(
+ "i", [=] { return GetI(); }, [=](double value) { SetI(value); });
+ builder.AddDoubleProperty(
+ "d", [=] { return GetD(); }, [=](double value) { SetD(value); });
+ builder.AddDoubleProperty(
+ "f", [=] { return GetF(); }, [=](double value) { SetF(value); });
+ builder.AddDoubleProperty(
+ "setpoint", [=] { return GetSetpoint(); },
+ [=](double value) { SetSetpoint(value); });
+}
+
+void PIDBase::Calculate() {
+ if (m_pidInput == nullptr || m_pidOutput == nullptr) {
+ return;
+ }
+
+ bool enabled;
+ {
+ std::scoped_lock lock(m_thisMutex);
+ enabled = m_enabled;
+ }
+
+ if (enabled) {
+ double input;
+
+ // Storage for function inputs
+ PIDSourceType pidSourceType;
+ double P;
+ double I;
+ double D;
+ double feedForward = CalculateFeedForward();
+ double minimumOutput;
+ double maximumOutput;
+
+ // Storage for function input-outputs
+ double prevError;
+ double error;
+ double totalError;
+
+ {
+ std::scoped_lock lock(m_thisMutex);
+
+ input = m_filter.Calculate(m_pidInput->PIDGet());
+
+ pidSourceType = m_pidInput->GetPIDSourceType();
+ P = m_P;
+ I = m_I;
+ D = m_D;
+ minimumOutput = m_minimumOutput;
+ maximumOutput = m_maximumOutput;
+
+ prevError = m_prevError;
+ error = GetContinuousError(m_setpoint - input);
+ totalError = m_totalError;
+ }
+
+ // Storage for function outputs
+ double result;
+
+ if (pidSourceType == PIDSourceType::kRate) {
+ if (P != 0) {
+ totalError =
+ clamp(totalError + error, minimumOutput / P, maximumOutput / P);
+ }
+
+ result = D * error + P * totalError + feedForward;
+ } else {
+ if (I != 0) {
+ totalError =
+ clamp(totalError + error, minimumOutput / I, maximumOutput / I);
+ }
+
+ result =
+ P * error + I * totalError + D * (error - prevError) + feedForward;
+ }
+
+ result = clamp(result, minimumOutput, maximumOutput);
+
+ {
+ // Ensures m_enabled check and PIDWrite() call occur atomically
+ std::scoped_lock pidWriteLock(m_pidWriteMutex);
+ std::unique_lock mainLock(m_thisMutex);
+ if (m_enabled) {
+ // Don't block other PIDBase operations on PIDWrite()
+ mainLock.unlock();
+
+ m_pidOutput->PIDWrite(result);
+ }
+ }
+
+ std::scoped_lock lock(m_thisMutex);
+ m_prevError = m_error;
+ m_error = error;
+ m_totalError = totalError;
+ m_result = result;
+ }
+}
+
+double PIDBase::CalculateFeedForward() {
+ if (m_pidInput->GetPIDSourceType() == PIDSourceType::kRate) {
+ return m_F * GetSetpoint();
+ } else {
+ double temp = m_F * GetDeltaSetpoint();
+ m_prevSetpoint = m_setpoint;
+ m_setpointTimer.Reset();
+ return temp;
+ }
+}
+
+double PIDBase::GetContinuousError(double error) const {
+ if (m_continuous && m_inputRange != 0) {
+ error = std::fmod(error, m_inputRange);
+ if (std::fabs(error) > m_inputRange / 2) {
+ if (error > 0) {
+ return error - m_inputRange;
+ } else {
+ return error + m_inputRange;
+ }
+ }
+ }
+
+ return error;
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/PIDController.cpp b/wpilibOldCommands/src/main/native/cpp/PIDController.cpp
new file mode 100644
index 0000000..ee8382c
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/PIDController.cpp
@@ -0,0 +1,84 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/PIDController.h"
+
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "frc/Notifier.h"
+#include "frc/PIDOutput.h"
+
+using namespace frc;
+
+PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource* source,
+ PIDOutput* output, double period)
+ : PIDController(Kp, Ki, Kd, 0.0, *source, *output, period) {}
+
+PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
+ PIDSource* source, PIDOutput* output,
+ double period)
+ : PIDController(Kp, Ki, Kd, Kf, *source, *output, period) {}
+
+PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource& source,
+ PIDOutput& output, double period)
+ : PIDController(Kp, Ki, Kd, 0.0, source, output, period) {}
+
+PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
+ PIDSource& source, PIDOutput& output,
+ double period)
+ : PIDBase(Kp, Ki, Kd, Kf, source, output) {
+ m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
+ m_controlLoop->StartPeriodic(units::second_t(period));
+}
+
+PIDController::~PIDController() {
+ // Forcefully stopping the notifier so the callback can successfully run.
+ m_controlLoop->Stop();
+}
+
+void PIDController::Enable() {
+ {
+ std::scoped_lock lock(m_thisMutex);
+ m_enabled = true;
+ }
+}
+
+void PIDController::Disable() {
+ {
+ // Ensures m_enabled modification and PIDWrite() call occur atomically
+ std::scoped_lock pidWriteLock(m_pidWriteMutex);
+ {
+ std::scoped_lock mainLock(m_thisMutex);
+ m_enabled = false;
+ }
+
+ m_pidOutput->PIDWrite(0);
+ }
+}
+
+void PIDController::SetEnabled(bool enable) {
+ if (enable) {
+ Enable();
+ } else {
+ Disable();
+ }
+}
+
+bool PIDController::IsEnabled() const {
+ std::scoped_lock lock(m_thisMutex);
+ return m_enabled;
+}
+
+void PIDController::Reset() {
+ Disable();
+
+ PIDBase::Reset();
+}
+
+void PIDController::InitSendable(wpi::SendableBuilder& builder) {
+ PIDBase::InitSendable(builder);
+ builder.AddBooleanProperty(
+ "enabled", [=] { return IsEnabled(); },
+ [=](bool value) { SetEnabled(value); });
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/PIDSource.cpp b/wpilibOldCommands/src/main/native/cpp/PIDSource.cpp
new file mode 100644
index 0000000..3a9e3ea
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/PIDSource.cpp
@@ -0,0 +1,15 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/PIDSource.h"
+
+using namespace frc;
+
+void PIDSource::SetPIDSourceType(PIDSourceType pidSource) {
+ m_pidSource = pidSource;
+}
+
+PIDSourceType PIDSource::GetPIDSourceType() const {
+ return m_pidSource;
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/Button.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/Button.cpp
index 57c86bd..ef2c03d 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/Button.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/Button.cpp
@@ -1,20 +1,27 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/Button.h"
using namespace frc;
-void Button::WhenPressed(Command* command) { WhenActive(command); }
+void Button::WhenPressed(Command* command) {
+ WhenActive(command);
+}
-void Button::WhileHeld(Command* command) { WhileActive(command); }
+void Button::WhileHeld(Command* command) {
+ WhileActive(command);
+}
-void Button::WhenReleased(Command* command) { WhenInactive(command); }
+void Button::WhenReleased(Command* command) {
+ WhenInactive(command);
+}
-void Button::CancelWhenPressed(Command* command) { CancelWhenActive(command); }
+void Button::CancelWhenPressed(Command* command) {
+ CancelWhenActive(command);
+}
-void Button::ToggleWhenPressed(Command* command) { ToggleWhenActive(command); }
+void Button::ToggleWhenPressed(Command* command) {
+ ToggleWhenActive(command);
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/ButtonScheduler.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/ButtonScheduler.cpp
index f79c487..b210c8d 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/ButtonScheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/ButtonScheduler.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/ButtonScheduler.h"
@@ -14,4 +11,6 @@
ButtonScheduler::ButtonScheduler(bool last, Trigger* button, Command* orders)
: m_pressedLast(last), m_button(button), m_command(orders) {}
-void ButtonScheduler::Start() { Scheduler::GetInstance()->AddButton(this); }
+void ButtonScheduler::Start() {
+ Scheduler::GetInstance()->AddButton(this);
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/CancelButtonScheduler.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/CancelButtonScheduler.cpp
index b0f4433..faff376 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/CancelButtonScheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/CancelButtonScheduler.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/CancelButtonScheduler.h"
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/HeldButtonScheduler.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/HeldButtonScheduler.cpp
index 9abf8bc..8fb1064 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/HeldButtonScheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/HeldButtonScheduler.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/HeldButtonScheduler.h"
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/InternalButton.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/InternalButton.cpp
index 6ff7971..5adf83c 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/InternalButton.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/InternalButton.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/InternalButton.h"
@@ -12,8 +9,14 @@
InternalButton::InternalButton(bool inverted)
: m_pressed(inverted), m_inverted(inverted) {}
-void InternalButton::SetInverted(bool inverted) { m_inverted = inverted; }
+void InternalButton::SetInverted(bool inverted) {
+ m_inverted = inverted;
+}
-void InternalButton::SetPressed(bool pressed) { m_pressed = pressed; }
+void InternalButton::SetPressed(bool pressed) {
+ m_pressed = pressed;
+}
-bool InternalButton::Get() { return m_pressed ^ m_inverted; }
+bool InternalButton::Get() {
+ return m_pressed ^ m_inverted;
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/JoystickButton.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/JoystickButton.cpp
index c1d5a29..459c076 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/JoystickButton.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/JoystickButton.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/JoystickButton.h"
@@ -12,4 +9,6 @@
JoystickButton::JoystickButton(GenericHID* joystick, int buttonNumber)
: m_joystick(joystick), m_buttonNumber(buttonNumber) {}
-bool JoystickButton::Get() { return m_joystick->GetRawButton(m_buttonNumber); }
+bool JoystickButton::Get() {
+ return m_joystick->GetRawButton(m_buttonNumber);
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/NetworkButton.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/NetworkButton.cpp
index 8bca356..f5694a1 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/NetworkButton.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/NetworkButton.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/NetworkButton.h"
@@ -12,13 +9,12 @@
using namespace frc;
-NetworkButton::NetworkButton(const wpi::Twine& tableName,
- const wpi::Twine& field)
+NetworkButton::NetworkButton(std::string_view tableName, std::string_view field)
: NetworkButton(nt::NetworkTableInstance::GetDefault().GetTable(tableName),
field) {}
NetworkButton::NetworkButton(std::shared_ptr<nt::NetworkTable> table,
- const wpi::Twine& field)
+ std::string_view field)
: m_entry(table->GetEntry(field)) {}
bool NetworkButton::Get() {
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/POVButton.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/POVButton.cpp
index 73e847a..67b8cae 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/POVButton.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/POVButton.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/POVButton.h"
@@ -12,4 +9,6 @@
POVButton::POVButton(GenericHID& joystick, int angle, int povNumber)
: m_joystick(&joystick), m_angle(angle), m_povNumber(povNumber) {}
-bool POVButton::Get() { return m_joystick->GetPOV(m_povNumber) == m_angle; }
+bool POVButton::Get() {
+ return m_joystick->GetPOV(m_povNumber) == m_angle;
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/PressedButtonScheduler.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/PressedButtonScheduler.cpp
index 4a470f5..73705bc 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/PressedButtonScheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/PressedButtonScheduler.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/PressedButtonScheduler.h"
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp
index 671c13e..647169b 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/ReleasedButtonScheduler.h"
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp
index cefccb5..d17b2e8 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/buttons/ToggleButtonScheduler.h"
diff --git a/wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp b/wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp
index 0cce9d0..9040df6 100644
--- a/wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp
@@ -1,9 +1,8 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <wpi/sendable/SendableBuilder.h>
#include "frc/buttons/Button.h"
#include "frc/buttons/CancelButtonScheduler.h"
@@ -11,7 +10,6 @@
#include "frc/buttons/PressedButtonScheduler.h"
#include "frc/buttons/ReleasedButtonScheduler.h"
#include "frc/buttons/ToggleButtonScheduler.h"
-#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -36,7 +34,9 @@
return *this;
}
-bool Trigger::Grab() { return Get() || m_sendablePressed; }
+bool Trigger::Grab() {
+ return Get() || m_sendablePressed;
+}
void Trigger::WhenActive(Command* command) {
auto pbs = new PressedButtonScheduler(Grab(), this, command);
@@ -63,10 +63,10 @@
tbs->Start();
}
-void Trigger::InitSendable(SendableBuilder& builder) {
+void Trigger::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Button");
- builder.SetSafeState([=]() { m_sendablePressed = false; });
+ builder.SetSafeState([=] { m_sendablePressed = false; });
builder.AddBooleanProperty(
- "pressed", [=]() { return Grab(); },
+ "pressed", [=] { return Grab(); },
[=](bool value) { m_sendablePressed = value; });
}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
index 8c2abcf..778f956 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
@@ -1,100 +1,109 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/Command.h"
#include <typeinfo>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
#include "frc/RobotState.h"
#include "frc/Timer.h"
-#include "frc/WPIErrors.h"
#include "frc/commands/CommandGroup.h"
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
int Command::m_commandCounter = 0;
-Command::Command() : Command("", -1.0) {}
+Command::Command() : Command("", -1_s) {}
-Command::Command(const wpi::Twine& name) : Command(name, -1.0) {}
+Command::Command(std::string_view name) : Command(name, -1_s) {}
-Command::Command(double timeout) : Command("", timeout) {}
+Command::Command(units::second_t timeout) : Command("", timeout) {}
-Command::Command(Subsystem& subsystem) : Command("", -1.0) {
+Command::Command(Subsystem& subsystem) : Command("", -1_s) {
Requires(&subsystem);
}
-Command::Command(const wpi::Twine& name, double timeout) {
+Command::Command(std::string_view name, units::second_t timeout) {
// We use -1.0 to indicate no timeout.
- if (timeout < 0.0 && timeout != -1.0)
- wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
+ if (timeout < 0_s && timeout != -1_s) {
+ throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0 s",
+ timeout.value());
+ }
m_timeout = timeout;
// If name contains an empty string
- if (name.isTriviallyEmpty() ||
- (name.isSingleStringRef() && name.getSingleStringRef().empty())) {
- SendableRegistry::GetInstance().Add(
- this, "Command_" + wpi::Twine(typeid(*this).name()));
+ if (name.empty()) {
+ wpi::SendableRegistry::Add(this,
+ fmt::format("Command_{}", typeid(*this).name()));
} else {
- SendableRegistry::GetInstance().Add(this, name);
+ wpi::SendableRegistry::Add(this, name);
}
}
-Command::Command(const wpi::Twine& name, Subsystem& subsystem)
- : Command(name, -1.0) {
+Command::Command(std::string_view name, Subsystem& subsystem)
+ : Command(name, -1_s) {
Requires(&subsystem);
}
-Command::Command(double timeout, Subsystem& subsystem) : Command("", timeout) {
+Command::Command(units::second_t timeout, Subsystem& subsystem)
+ : Command("", timeout) {
Requires(&subsystem);
}
-Command::Command(const wpi::Twine& name, double timeout, Subsystem& subsystem)
+Command::Command(std::string_view name, units::second_t timeout,
+ Subsystem& subsystem)
: Command(name, timeout) {
Requires(&subsystem);
}
-double Command::TimeSinceInitialized() const {
- if (m_startTime < 0.0)
- return 0.0;
- else
+units::second_t Command::TimeSinceInitialized() const {
+ if (m_startTime < 0_s) {
+ return 0_s;
+ } else {
return Timer::GetFPGATimestamp() - m_startTime;
+ }
}
void Command::Requires(Subsystem* subsystem) {
- if (!AssertUnlocked("Can not add new requirement to command")) return;
+ if (!AssertUnlocked("Can not add new requirement to command")) {
+ return;
+ }
- if (subsystem != nullptr)
+ if (subsystem != nullptr) {
m_requirements.insert(subsystem);
- else
- wpi_setWPIErrorWithContext(NullParameter, "subsystem");
+ } else {
+ throw FRC_MakeError(err::NullParameter, "{}", "subsystem");
+ }
}
void Command::Start() {
LockChanges();
- if (m_parent != nullptr)
- wpi_setWPIErrorWithContext(
- CommandIllegalUse,
+ if (m_parent != nullptr) {
+ throw FRC_MakeError(
+ err::CommandIllegalUse, "{}",
"Can not start a command that is part of a command group");
+ }
m_completed = false;
Scheduler::GetInstance()->AddCommand(this);
}
bool Command::Run() {
- if (!m_runWhenDisabled && m_parent == nullptr && RobotState::IsDisabled())
+ if (!m_runWhenDisabled && m_parent == nullptr && RobotState::IsDisabled()) {
Cancel();
+ }
- if (IsCanceled()) return false;
+ if (IsCanceled()) {
+ return false;
+ }
if (!m_initialized) {
m_initialized = true;
@@ -108,23 +117,34 @@
}
void Command::Cancel() {
- if (m_parent != nullptr)
- wpi_setWPIErrorWithContext(
- CommandIllegalUse,
+ if (m_parent != nullptr) {
+ throw FRC_MakeError(
+ err::CommandIllegalUse, "{}",
"Can not cancel a command that is part of a command group");
+ }
_Cancel();
}
-bool Command::IsRunning() const { return m_running; }
+bool Command::IsRunning() const {
+ return m_running;
+}
-bool Command::IsInitialized() const { return m_initialized; }
+bool Command::IsInitialized() const {
+ return m_initialized;
+}
-bool Command::IsCompleted() const { return m_completed; }
+bool Command::IsCompleted() const {
+ return m_completed;
+}
-bool Command::IsCanceled() const { return m_canceled; }
+bool Command::IsCanceled() const {
+ return m_canceled;
+}
-bool Command::IsInterruptible() const { return m_interruptible; }
+bool Command::IsInterruptible() const {
+ return m_interruptible;
+}
void Command::SetInterruptible(bool interruptible) {
m_interruptible = interruptible;
@@ -138,51 +158,64 @@
return m_requirements;
}
-CommandGroup* Command::GetGroup() const { return m_parent; }
+CommandGroup* Command::GetGroup() const {
+ return m_parent;
+}
-void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
+void Command::SetRunWhenDisabled(bool run) {
+ m_runWhenDisabled = run;
+}
-bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
+bool Command::WillRunWhenDisabled() const {
+ return m_runWhenDisabled;
+}
-int Command::GetID() const { return m_commandID; }
+int Command::GetID() const {
+ return m_commandID;
+}
-void Command::SetTimeout(double timeout) {
- if (timeout < 0.0)
- wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
- else
+void Command::SetTimeout(units::second_t timeout) {
+ if (timeout < 0_s) {
+ throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0 s",
+ timeout.value());
+ } else {
m_timeout = timeout;
+ }
}
bool Command::IsTimedOut() const {
- return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
+ return m_timeout != -1_s && TimeSinceInitialized() >= m_timeout;
}
-bool Command::AssertUnlocked(const std::string& message) {
+bool Command::AssertUnlocked(std::string_view message) {
if (m_locked) {
- std::string buf =
- message + " after being started or being added to a command group";
- wpi_setWPIErrorWithContext(CommandIllegalUse, buf);
- return false;
+ throw FRC_MakeError(
+ err::CommandIllegalUse,
+ "{} after being started or being added to a command group", message);
}
return true;
}
void Command::SetParent(CommandGroup* parent) {
if (parent == nullptr) {
- wpi_setWPIErrorWithContext(NullParameter, "parent");
+ throw FRC_MakeError(err::NullParameter, "{}", "parent");
} else if (m_parent != nullptr) {
- wpi_setWPIErrorWithContext(CommandIllegalUse,
- "Can not give command to a command group after "
- "already being put in a command group");
+ throw FRC_MakeError(err::CommandIllegalUse, "{}",
+ "Can not give command to a command group after "
+ "already being put in a command group");
} else {
LockChanges();
m_parent = parent;
}
}
-bool Command::IsParented() const { return m_parent != nullptr; }
+bool Command::IsParented() const {
+ return m_parent != nullptr;
+}
-void Command::ClearRequirements() { m_requirements.clear(); }
+void Command::ClearRequirements() {
+ m_requirements.clear();
+}
void Command::Initialize() {}
@@ -190,21 +223,33 @@
void Command::End() {}
-void Command::Interrupted() { End(); }
+void Command::Interrupted() {
+ End();
+}
-void Command::_Initialize() { m_completed = false; }
+void Command::_Initialize() {
+ m_completed = false;
+}
-void Command::_Interrupted() { m_completed = true; }
+void Command::_Interrupted() {
+ m_completed = true;
+}
void Command::_Execute() {}
-void Command::_End() { m_completed = true; }
-
-void Command::_Cancel() {
- if (IsRunning()) m_canceled = true;
+void Command::_End() {
+ m_completed = true;
}
-void Command::LockChanges() { m_locked = true; }
+void Command::_Cancel() {
+ if (IsRunning()) {
+ m_canceled = true;
+ }
+}
+
+void Command::LockChanges() {
+ m_locked = true;
+}
void Command::Removed() {
if (m_initialized) {
@@ -224,42 +269,47 @@
void Command::StartRunning() {
m_running = true;
- m_startTime = -1;
+ m_startTime = -1_s;
m_completed = false;
}
-void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); }
-
-std::string Command::GetName() const {
- return SendableRegistry::GetInstance().GetName(this);
+void Command::StartTiming() {
+ m_startTime = Timer::GetFPGATimestamp();
}
-void Command::SetName(const wpi::Twine& name) {
- SendableRegistry::GetInstance().SetName(this, name);
+std::string Command::GetName() const {
+ return wpi::SendableRegistry::GetName(this);
+}
+
+void Command::SetName(std::string_view name) {
+ wpi::SendableRegistry::SetName(this, name);
}
std::string Command::GetSubsystem() const {
- return SendableRegistry::GetInstance().GetSubsystem(this);
+ return wpi::SendableRegistry::GetSubsystem(this);
}
-void Command::SetSubsystem(const wpi::Twine& name) {
- SendableRegistry::GetInstance().SetSubsystem(this, name);
+void Command::SetSubsystem(std::string_view name) {
+ wpi::SendableRegistry::SetSubsystem(this, name);
}
-void Command::InitSendable(SendableBuilder& builder) {
+void Command::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
builder.AddStringProperty(
- ".name", [=]() { return SendableRegistry::GetInstance().GetName(this); },
- nullptr);
+ ".name", [=] { return wpi::SendableRegistry::GetName(this); }, nullptr);
builder.AddBooleanProperty(
- "running", [=]() { return IsRunning(); },
+ "running", [=] { return IsRunning(); },
[=](bool value) {
if (value) {
- if (!IsRunning()) Start();
+ if (!IsRunning()) {
+ Start();
+ }
} else {
- if (IsRunning()) Cancel();
+ if (IsRunning()) {
+ Cancel();
+ }
}
});
builder.AddBooleanProperty(
- ".isParented", [=]() { return IsParented(); }, nullptr);
+ ".isParented", [=] { return IsParented(); }, nullptr);
}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/CommandGroup.cpp b/wpilibOldCommands/src/main/native/cpp/commands/CommandGroup.cpp
index 31354e3..977795d 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/CommandGroup.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/CommandGroup.cpp
@@ -1,24 +1,22 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/CommandGroup.h"
-#include "frc/WPIErrors.h"
+#include "frc/Errors.h"
using namespace frc;
-CommandGroup::CommandGroup(const wpi::Twine& name) : Command(name) {}
+CommandGroup::CommandGroup(std::string_view name) : Command(name) {}
void CommandGroup::AddSequential(Command* command) {
- if (command == nullptr) {
- wpi_setWPIErrorWithContext(NullParameter, "command");
+ if (!command) {
+ throw FRC_MakeError(err::NullParameter, "{}", "command");
+ }
+ if (!AssertUnlocked("Cannot add new command to command group")) {
return;
}
- if (!AssertUnlocked("Cannot add new command to command group")) return;
m_commands.emplace_back(command, CommandGroupEntry::kSequence_InSequence);
@@ -26,18 +24,21 @@
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
- for (auto&& requirement : command->GetRequirements()) Requires(requirement);
+ for (auto&& requirement : command->GetRequirements()) {
+ Requires(requirement);
+ }
}
-void CommandGroup::AddSequential(Command* command, double timeout) {
- if (command == nullptr) {
- wpi_setWPIErrorWithContext(NullParameter, "command");
+void CommandGroup::AddSequential(Command* command, units::second_t timeout) {
+ if (!command) {
+ throw FRC_MakeError(err::NullParameter, "{}", "command");
+ }
+ if (!AssertUnlocked("Cannot add new command to command group")) {
return;
}
- if (!AssertUnlocked("Cannot add new command to command group")) return;
- if (timeout < 0.0) {
- wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
- return;
+ if (timeout < 0_s) {
+ throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0 s",
+ timeout.value());
}
m_commands.emplace_back(command, CommandGroupEntry::kSequence_InSequence,
@@ -47,15 +48,19 @@
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
- for (auto&& requirement : command->GetRequirements()) Requires(requirement);
+ for (auto&& requirement : command->GetRequirements()) {
+ Requires(requirement);
+ }
}
void CommandGroup::AddParallel(Command* command) {
- if (command == nullptr) {
- wpi_setWPIErrorWithContext(NullParameter, "command");
+ if (!command) {
+ throw FRC_MakeError(err::NullParameter, "{}", "command");
return;
}
- if (!AssertUnlocked("Cannot add new command to command group")) return;
+ if (!AssertUnlocked("Cannot add new command to command group")) {
+ return;
+ }
m_commands.emplace_back(command, CommandGroupEntry::kSequence_BranchChild);
@@ -63,18 +68,21 @@
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
- for (auto&& requirement : command->GetRequirements()) Requires(requirement);
+ for (auto&& requirement : command->GetRequirements()) {
+ Requires(requirement);
+ }
}
-void CommandGroup::AddParallel(Command* command, double timeout) {
- if (command == nullptr) {
- wpi_setWPIErrorWithContext(NullParameter, "command");
+void CommandGroup::AddParallel(Command* command, units::second_t timeout) {
+ if (!command) {
+ throw FRC_MakeError(err::NullParameter, "{}", "command");
+ }
+ if (!AssertUnlocked("Cannot add new command to command group")) {
return;
}
- if (!AssertUnlocked("Cannot add new command to command group")) return;
- if (timeout < 0.0) {
- wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
- return;
+ if (timeout < 0_s) {
+ throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0 s",
+ timeout.value());
}
m_commands.emplace_back(command, CommandGroupEntry::kSequence_BranchChild,
@@ -84,26 +92,36 @@
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
- for (auto&& requirement : command->GetRequirements()) Requires(requirement);
+ for (auto&& requirement : command->GetRequirements()) {
+ Requires(requirement);
+ }
}
bool CommandGroup::IsInterruptible() const {
- if (!Command::IsInterruptible()) return false;
+ if (!Command::IsInterruptible()) {
+ return false;
+ }
if (m_currentCommandIndex != -1 &&
static_cast<size_t>(m_currentCommandIndex) < m_commands.size()) {
Command* cmd = m_commands[m_currentCommandIndex].m_command;
- if (!cmd->IsInterruptible()) return false;
+ if (!cmd->IsInterruptible()) {
+ return false;
+ }
}
for (const auto& child : m_children) {
- if (!child->m_command->IsInterruptible()) return false;
+ if (!child->m_command->IsInterruptible()) {
+ return false;
+ }
}
return true;
}
-int CommandGroup::GetSize() const { return m_children.size(); }
+int CommandGroup::GetSize() const {
+ return m_children.size();
+}
void CommandGroup::Initialize() {}
@@ -118,7 +136,9 @@
void CommandGroup::Interrupted() {}
-void CommandGroup::_Initialize() { m_currentCommandIndex = -1; }
+void CommandGroup::_Initialize() {
+ m_currentCommandIndex = -1;
+}
void CommandGroup::_Execute() {
CommandGroupEntry* entry;
@@ -135,7 +155,9 @@
// If a command is prepared to run
if (cmd != nullptr) {
// If command timed out, cancel it so it's removed from the Scheduler
- if (entry->IsTimedOut()) cmd->_Cancel();
+ if (entry->IsTimedOut()) {
+ cmd->_Cancel();
+ }
// If command finished or was canceled, remove it from Scheduler
if (cmd->Run()) {
@@ -222,7 +244,9 @@
m_children.clear();
}
-void CommandGroup::_Interrupted() { _End(); }
+void CommandGroup::_Interrupted() {
+ _End();
+}
void CommandGroup::CancelConflicts(Command* command) {
for (auto childIter = m_children.begin(); childIter != m_children.end();) {
@@ -238,6 +262,8 @@
break;
}
}
- if (!erased) childIter++;
+ if (!erased) {
+ childIter++;
+ }
}
}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/CommandGroupEntry.cpp b/wpilibOldCommands/src/main/native/cpp/commands/CommandGroupEntry.cpp
index 3441743..1e6f8c7 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/CommandGroupEntry.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/CommandGroupEntry.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/CommandGroupEntry.h"
@@ -12,12 +9,16 @@
using namespace frc;
CommandGroupEntry::CommandGroupEntry(Command* command, Sequence state,
- double timeout)
+ units::second_t timeout)
: m_timeout(timeout), m_command(command), m_state(state) {}
bool CommandGroupEntry::IsTimedOut() const {
- if (m_timeout < 0.0) return false;
- double time = m_command->TimeSinceInitialized();
- if (time == 0.0) return false;
+ if (m_timeout < 0_s) {
+ return false;
+ }
+ auto time = m_command->TimeSinceInitialized();
+ if (time == 0_s) {
+ return false;
+ }
return time >= m_timeout;
}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/ConditionalCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/ConditionalCommand.cpp
index 3d89d92..e2867b5 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/ConditionalCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/ConditionalCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/ConditionalCommand.h"
@@ -13,12 +10,14 @@
static void RequireAll(Command& command, Command* onTrue, Command* onFalse) {
if (onTrue != nullptr) {
- for (auto requirement : onTrue->GetRequirements())
+ for (auto requirement : onTrue->GetRequirements()) {
command.Requires(requirement);
+ }
}
if (onFalse != nullptr) {
- for (auto requirement : onFalse->GetRequirements())
+ for (auto requirement : onFalse->GetRequirements()) {
command.Requires(requirement);
+ }
}
}
@@ -29,7 +28,7 @@
RequireAll(*this, onTrue, onFalse);
}
-ConditionalCommand::ConditionalCommand(const wpi::Twine& name, Command* onTrue,
+ConditionalCommand::ConditionalCommand(std::string_view name, Command* onTrue,
Command* onFalse)
: Command(name) {
m_onTrue = onTrue;
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/InstantCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/InstantCommand.cpp
index 445c5e0..d8f3309 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/InstantCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/InstantCommand.cpp
@@ -1,35 +1,35 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/InstantCommand.h"
+#include <utility>
+
using namespace frc;
-InstantCommand::InstantCommand(const wpi::Twine& name) : Command(name) {}
+InstantCommand::InstantCommand(std::string_view name) : Command(name) {}
InstantCommand::InstantCommand(Subsystem& subsystem) : Command(subsystem) {}
-InstantCommand::InstantCommand(const wpi::Twine& name, Subsystem& subsystem)
+InstantCommand::InstantCommand(std::string_view name, Subsystem& subsystem)
: Command(name, subsystem) {}
-InstantCommand::InstantCommand(std::function<void()> func) : m_func(func) {}
+InstantCommand::InstantCommand(std::function<void()> func)
+ : m_func(std::move(func)) {}
InstantCommand::InstantCommand(Subsystem& subsystem, std::function<void()> func)
: InstantCommand(subsystem) {
m_func = func;
}
-InstantCommand::InstantCommand(const wpi::Twine& name,
+InstantCommand::InstantCommand(std::string_view name,
std::function<void()> func)
: InstantCommand(name) {
m_func = func;
}
-InstantCommand::InstantCommand(const wpi::Twine& name, Subsystem& subsystem,
+InstantCommand::InstantCommand(std::string_view name, Subsystem& subsystem,
std::function<void()> func)
: InstantCommand(name, subsystem) {
m_func = func;
@@ -42,4 +42,6 @@
}
}
-bool InstantCommand::IsFinished() { return true; }
+bool InstantCommand::IsFinished() {
+ return true;
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp
index 90a05f4..e71556a 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/PIDCommand.h"
-#include "frc/smartdashboard/SendableBuilder.h"
+#include <wpi/sendable/SendableBuilder.h>
using namespace frc;
-PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
+PIDCommand::PIDCommand(std::string_view name, double p, double i, double d,
double f, double period)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
@@ -22,12 +19,12 @@
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
-PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d)
+PIDCommand::PIDCommand(std::string_view name, double p, double i, double d)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
-PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
+PIDCommand::PIDCommand(std::string_view name, double p, double i, double d,
double period)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
@@ -41,7 +38,7 @@
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
-PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
+PIDCommand::PIDCommand(std::string_view name, double p, double i, double d,
double f, double period, Subsystem& subsystem)
: Command(name, subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
@@ -54,13 +51,13 @@
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
-PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
+PIDCommand::PIDCommand(std::string_view name, double p, double i, double d,
Subsystem& subsystem)
: Command(name, subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
-PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
+PIDCommand::PIDCommand(std::string_view name, double p, double i, double d,
double period, Subsystem& subsystem)
: Command(name, subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
@@ -75,19 +72,29 @@
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
-void PIDCommand::_Initialize() { m_controller->Enable(); }
+void PIDCommand::_Initialize() {
+ m_controller->Enable();
+}
-void PIDCommand::_End() { m_controller->Disable(); }
+void PIDCommand::_End() {
+ m_controller->Disable();
+}
-void PIDCommand::_Interrupted() { _End(); }
+void PIDCommand::_Interrupted() {
+ _End();
+}
void PIDCommand::SetSetpointRelative(double deltaSetpoint) {
SetSetpoint(GetSetpoint() + deltaSetpoint);
}
-void PIDCommand::PIDWrite(double output) { UsePIDOutput(output); }
+void PIDCommand::PIDWrite(double output) {
+ UsePIDOutput(output);
+}
-double PIDCommand::PIDGet() { return ReturnPIDInput(); }
+double PIDCommand::PIDGet() {
+ return ReturnPIDInput();
+}
std::shared_ptr<PIDController> PIDCommand::GetPIDController() const {
return m_controller;
@@ -97,11 +104,15 @@
m_controller->SetSetpoint(setpoint);
}
-double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }
+double PIDCommand::GetSetpoint() const {
+ return m_controller->GetSetpoint();
+}
-double PIDCommand::GetPosition() { return ReturnPIDInput(); }
+double PIDCommand::GetPosition() {
+ return ReturnPIDInput();
+}
-void PIDCommand::InitSendable(SendableBuilder& builder) {
+void PIDCommand::InitSendable(wpi::SendableBuilder& builder) {
m_controller->InitSendable(builder);
Command::InitSendable(builder);
builder.SetSmartDashboardType("PIDCommand");
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/PIDSubsystem.cpp b/wpilibOldCommands/src/main/native/cpp/commands/PIDSubsystem.cpp
index 4d35943..f76288b 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/PIDSubsystem.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/PIDSubsystem.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/PIDSubsystem.h"
@@ -11,20 +8,20 @@
using namespace frc;
-PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d)
+PIDSubsystem::PIDSubsystem(std::string_view name, double p, double i, double d)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
-PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
+PIDSubsystem::PIDSubsystem(std::string_view name, double p, double i, double d,
double f)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
-PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
+PIDSubsystem::PIDSubsystem(std::string_view name, double p, double i, double d,
double f, double period)
: Subsystem(name) {
m_controller =
@@ -52,13 +49,21 @@
AddChild("PIDController", m_controller);
}
-void PIDSubsystem::Enable() { m_controller->Enable(); }
+void PIDSubsystem::Enable() {
+ m_controller->Enable();
+}
-void PIDSubsystem::Disable() { m_controller->Disable(); }
+void PIDSubsystem::Disable() {
+ m_controller->Disable();
+}
-void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
+void PIDSubsystem::PIDWrite(double output) {
+ UsePIDOutput(output);
+}
-double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
+double PIDSubsystem::PIDGet() {
+ return ReturnPIDInput();
+}
void PIDSubsystem::SetSetpoint(double setpoint) {
m_controller->SetSetpoint(setpoint);
@@ -76,11 +81,17 @@
m_controller->SetOutputRange(minimumOutput, maximumOutput);
}
-double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
+double PIDSubsystem::GetSetpoint() {
+ return m_controller->GetSetpoint();
+}
-double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
+double PIDSubsystem::GetPosition() {
+ return ReturnPIDInput();
+}
-double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
+double PIDSubsystem::GetRate() {
+ return ReturnPIDInput();
+}
void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
m_controller->SetAbsoluteTolerance(absValue);
@@ -90,7 +101,9 @@
m_controller->SetPercentTolerance(percent);
}
-bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
+bool PIDSubsystem::OnTarget() const {
+ return m_controller->OnTarget();
+}
std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
return m_controller;
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/PrintCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/PrintCommand.cpp
index 888e8a1..ca8f49a 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/PrintCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/PrintCommand.cpp
@@ -1,19 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/PrintCommand.h"
-#include <wpi/raw_ostream.h>
+#include <fmt/format.h>
using namespace frc;
-PrintCommand::PrintCommand(const wpi::Twine& message)
- : InstantCommand("Print \"" + message + wpi::Twine('"')) {
- m_message = message.str();
+PrintCommand::PrintCommand(std::string_view message)
+ : InstantCommand(fmt::format("Print \"{}\"", message)) {
+ m_message = message;
}
-void PrintCommand::Initialize() { wpi::outs() << m_message << '\n'; }
+void PrintCommand::Initialize() {
+ fmt::print("{}\n", m_message);
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
index 47212e5..701162c 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/Scheduler.h"
@@ -13,16 +10,16 @@
#include <vector>
#include <hal/FRCUsageReporting.h>
+#include <networktables/NTSendableBuilder.h>
#include <networktables/NetworkTableEntry.h>
#include <wpi/mutex.h>
+#include <wpi/sendable/SendableRegistry.h>
-#include "frc/WPIErrors.h"
+#include "frc/Errors.h"
#include "frc/buttons/ButtonScheduler.h"
#include "frc/commands/Command.h"
#include "frc/commands/Subsystem.h"
#include "frc/livewindow/LiveWindow.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -55,8 +52,9 @@
void Scheduler::AddCommand(Command* command) {
std::scoped_lock lock(m_impl->additionsMutex);
if (std::find(m_impl->additions.begin(), m_impl->additions.end(), command) !=
- m_impl->additions.end())
+ m_impl->additions.end()) {
return;
+ }
m_impl->additions.push_back(command);
}
@@ -66,9 +64,8 @@
}
void Scheduler::RegisterSubsystem(Subsystem* subsystem) {
- if (subsystem == nullptr) {
- wpi_setWPIErrorWithContext(NullParameter, "subsystem");
- return;
+ if (!subsystem) {
+ throw FRC_MakeError(err::NullParameter, "{}", "subsystem");
}
m_impl->subsystems.insert(subsystem);
}
@@ -76,7 +73,9 @@
void Scheduler::Run() {
// Get button input (going backwards preserves button priority)
{
- if (!m_impl->enabled) return;
+ if (!m_impl->enabled) {
+ return;
+ }
std::scoped_lock lock(m_impl->buttonsMutex);
for (auto& button : m_impl->buttons) {
@@ -109,8 +108,8 @@
for (auto& addition : m_impl->additions) {
// Check to make sure no adding during adding
if (m_impl->adding) {
- wpi_setWPIErrorWithContext(IncompatibleState,
- "Can not start command from cancel method");
+ FRC_ReportError(warn::IncompatibleState, "{}",
+ "Can not start command from cancel method");
} else {
m_impl->ProcessCommandAddition(addition);
}
@@ -122,8 +121,8 @@
for (auto& subsystem : m_impl->subsystems) {
if (subsystem->GetCurrentCommand() == nullptr) {
if (m_impl->adding) {
- wpi_setWPIErrorWithContext(IncompatibleState,
- "Can not start command from cancel method");
+ FRC_ReportError(warn::IncompatibleState, "{}",
+ "Can not start command from cancel method");
} else {
m_impl->ProcessCommandAddition(subsystem->GetDefaultCommand());
}
@@ -133,9 +132,8 @@
}
void Scheduler::Remove(Command* command) {
- if (command == nullptr) {
- wpi_setWPIErrorWithContext(NullParameter, "command");
- return;
+ if (!command) {
+ throw FRC_MakeError(err::NullParameter, "{}", "command");
}
m_impl->Remove(command);
@@ -155,18 +153,22 @@
m_impl->commands.clear();
}
-void Scheduler::SetEnabled(bool enabled) { m_impl->enabled = enabled; }
+void Scheduler::SetEnabled(bool enabled) {
+ m_impl->enabled = enabled;
+}
-void Scheduler::InitSendable(SendableBuilder& builder) {
+void Scheduler::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
auto namesEntry = builder.GetEntry("Names");
auto idsEntry = builder.GetEntry("Ids");
auto cancelEntry = builder.GetEntry("Cancel");
- builder.SetUpdateTable([=]() {
+ builder.SetUpdateTable([=] {
// Get the list of possible commands to cancel
auto new_toCancel = cancelEntry.GetValue();
- wpi::ArrayRef<double> toCancel;
- if (new_toCancel) toCancel = new_toCancel->GetDoubleArray();
+ wpi::span<const double> toCancel;
+ if (new_toCancel) {
+ toCancel = new_toCancel->GetDoubleArray();
+ }
// Cancel commands whose cancel buttons were pressed on the SmartDashboard
if (!toCancel.empty()) {
@@ -184,9 +186,9 @@
if (m_impl->runningCommandsChanged) {
m_impl->commandsBuf.resize(0);
m_impl->idsBuf.resize(0);
- auto& registry = SendableRegistry::GetInstance();
for (const auto& command : m_impl->commands) {
- m_impl->commandsBuf.emplace_back(registry.GetName(command));
+ m_impl->commandsBuf.emplace_back(
+ wpi::SendableRegistry::GetName(command));
m_impl->idsBuf.emplace_back(command->GetID());
}
nt::NetworkTableEntry(namesEntry).SetStringArray(m_impl->commandsBuf);
@@ -198,24 +200,24 @@
Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
- SendableRegistry::GetInstance().AddLW(this, "Scheduler");
- auto scheduler = frc::LiveWindow::GetInstance();
- scheduler->enabled = [this] {
+ wpi::SendableRegistry::AddLW(this, "Scheduler");
+ frc::LiveWindow::SetEnabledCallback([this] {
this->SetEnabled(false);
this->RemoveAll();
- };
- scheduler->disabled = [this] { this->SetEnabled(true); };
+ });
+ frc::LiveWindow::SetDisabledCallback([this] { this->SetEnabled(true); });
}
Scheduler::~Scheduler() {
- SendableRegistry::GetInstance().Remove(this);
- auto scheduler = frc::LiveWindow::GetInstance();
- scheduler->enabled = nullptr;
- scheduler->disabled = nullptr;
+ wpi::SendableRegistry::Remove(this);
+ frc::LiveWindow::SetEnabledCallback(nullptr);
+ frc::LiveWindow::SetDisabledCallback(nullptr);
}
void Scheduler::Impl::Remove(Command* command) {
- if (!commands.erase(command)) return;
+ if (!commands.erase(command)) {
+ return;
+ }
for (auto&& requirement : command->GetRequirements()) {
requirement->SetCurrentCommand(nullptr);
@@ -225,7 +227,9 @@
}
void Scheduler::Impl::ProcessCommandAddition(Command* command) {
- if (command == nullptr) return;
+ if (command == nullptr) {
+ return;
+ }
// Only add if not already in
auto found = commands.find(command);
@@ -234,8 +238,9 @@
const auto& requirements = command->GetRequirements();
for (const auto requirement : requirements) {
if (requirement->GetCurrentCommand() != nullptr &&
- !requirement->GetCurrentCommand()->IsInterruptible())
+ !requirement->GetCurrentCommand()->IsInterruptible()) {
return;
+ }
}
// Give it the requirements
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/StartCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/StartCommand.cpp
index 97ddfb9..05dc079 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/StartCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/StartCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/StartCommand.h"
@@ -14,4 +11,6 @@
m_commandToFork = commandToStart;
}
-void StartCommand::Initialize() { m_commandToFork->Start(); }
+void StartCommand::Initialize() {
+ m_commandToFork->Start();
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
index 85e800e..824872f 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
@@ -1,23 +1,21 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/Subsystem.h"
-#include "frc/WPIErrors.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
#include "frc/commands/Command.h"
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
-Subsystem::Subsystem(const wpi::Twine& name) {
- SendableRegistry::GetInstance().AddLW(this, name, name);
+Subsystem::Subsystem(std::string_view name) {
+ wpi::SendableRegistry::AddLW(this, name, name);
Scheduler::GetInstance()->RegisterSubsystem(this);
}
@@ -27,9 +25,8 @@
} else {
const auto& reqs = command->GetRequirements();
if (std::find(reqs.begin(), reqs.end(), this) == reqs.end()) {
- wpi_setWPIErrorWithContext(
- CommandIllegalUse, "A default command must require the subsystem");
- return;
+ throw FRC_MakeError(err::CommandIllegalUse, "{}",
+ "A default command must require the subsystem");
}
m_defaultCommand = command;
@@ -44,12 +41,12 @@
return m_defaultCommand;
}
-wpi::StringRef Subsystem::GetDefaultCommandName() {
+std::string Subsystem::GetDefaultCommandName() {
Command* defaultCommand = GetDefaultCommand();
if (defaultCommand) {
- return SendableRegistry::GetInstance().GetName(defaultCommand);
+ return wpi::SendableRegistry::GetName(defaultCommand);
} else {
- return wpi::StringRef();
+ return {};
}
}
@@ -58,14 +55,16 @@
m_currentCommandChanged = true;
}
-Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }
+Command* Subsystem::GetCurrentCommand() const {
+ return m_currentCommand;
+}
-wpi::StringRef Subsystem::GetCurrentCommandName() const {
+std::string Subsystem::GetCurrentCommandName() const {
Command* currentCommand = GetCurrentCommand();
if (currentCommand) {
- return SendableRegistry::GetInstance().GetName(currentCommand);
+ return wpi::SendableRegistry::GetName(currentCommand);
} else {
- return wpi::StringRef();
+ return {};
}
}
@@ -74,59 +73,65 @@
void Subsystem::InitDefaultCommand() {}
std::string Subsystem::GetName() const {
- return SendableRegistry::GetInstance().GetName(this);
+ return wpi::SendableRegistry::GetName(this);
}
-void Subsystem::SetName(const wpi::Twine& name) {
- SendableRegistry::GetInstance().SetName(this, name);
+void Subsystem::SetName(std::string_view name) {
+ wpi::SendableRegistry::SetName(this, name);
}
std::string Subsystem::GetSubsystem() const {
- return SendableRegistry::GetInstance().GetSubsystem(this);
+ return wpi::SendableRegistry::GetSubsystem(this);
}
-void Subsystem::SetSubsystem(const wpi::Twine& name) {
- SendableRegistry::GetInstance().SetSubsystem(this, name);
+void Subsystem::SetSubsystem(std::string_view name) {
+ wpi::SendableRegistry::SetSubsystem(this, name);
}
-void Subsystem::AddChild(const wpi::Twine& name,
+void Subsystem::AddChild(std::string_view name,
std::shared_ptr<Sendable> child) {
AddChild(name, *child);
}
-void Subsystem::AddChild(const wpi::Twine& name, Sendable* child) {
+void Subsystem::AddChild(std::string_view name, wpi::Sendable* child) {
AddChild(name, *child);
}
-void Subsystem::AddChild(const wpi::Twine& name, Sendable& child) {
- auto& registry = SendableRegistry::GetInstance();
- registry.AddLW(&child, registry.GetSubsystem(this), name);
+void Subsystem::AddChild(std::string_view name, wpi::Sendable& child) {
+ wpi::SendableRegistry::AddLW(&child,
+ wpi::SendableRegistry::GetSubsystem(this), name);
}
-void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
+void Subsystem::AddChild(std::shared_ptr<wpi::Sendable> child) {
+ AddChild(*child);
+}
-void Subsystem::AddChild(Sendable* child) { AddChild(*child); }
+void Subsystem::AddChild(wpi::Sendable* child) {
+ AddChild(*child);
+}
-void Subsystem::AddChild(Sendable& child) {
- auto& registry = SendableRegistry::GetInstance();
- registry.SetSubsystem(&child, registry.GetSubsystem(this));
- registry.EnableLiveWindow(&child);
+void Subsystem::AddChild(wpi::Sendable& child) {
+ wpi::SendableRegistry::SetSubsystem(
+ &child, wpi::SendableRegistry::GetSubsystem(this));
+ wpi::SendableRegistry::EnableLiveWindow(&child);
}
void Subsystem::ConfirmCommand() {
- if (m_currentCommandChanged) m_currentCommandChanged = false;
+ if (m_currentCommandChanged) {
+ m_currentCommandChanged = false;
+ }
}
-void Subsystem::InitSendable(SendableBuilder& builder) {
+void Subsystem::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Subsystem");
builder.AddBooleanProperty(
- ".hasDefault", [=]() { return m_defaultCommand != nullptr; }, nullptr);
+ ".hasDefault", [=] { return m_defaultCommand != nullptr; }, nullptr);
builder.AddStringProperty(
- ".default", [=]() { return GetDefaultCommandName(); }, nullptr);
+ ".default", [=] { return GetDefaultCommandName(); }, nullptr);
builder.AddBooleanProperty(
- ".hasCommand", [=]() { return m_currentCommand != nullptr; }, nullptr);
+ ".hasCommand", [=] { return m_currentCommand != nullptr; }, nullptr);
builder.AddStringProperty(
- ".command", [=]() { return GetCurrentCommandName(); }, nullptr);
+ ".command", [=] { return GetCurrentCommandName(); }, nullptr);
}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/TimedCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/TimedCommand.cpp
index f5113b2..5c2ccd4 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/TimedCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/TimedCommand.cpp
@@ -1,24 +1,23 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/TimedCommand.h"
using namespace frc;
-TimedCommand::TimedCommand(const wpi::Twine& name, double timeout)
+TimedCommand::TimedCommand(std::string_view name, units::second_t timeout)
: Command(name, timeout) {}
-TimedCommand::TimedCommand(double timeout) : Command(timeout) {}
+TimedCommand::TimedCommand(units::second_t timeout) : Command(timeout) {}
-TimedCommand::TimedCommand(const wpi::Twine& name, double timeout,
+TimedCommand::TimedCommand(std::string_view name, units::second_t timeout,
Subsystem& subsystem)
: Command(name, timeout, subsystem) {}
-TimedCommand::TimedCommand(double timeout, Subsystem& subsystem)
+TimedCommand::TimedCommand(units::second_t timeout, Subsystem& subsystem)
: Command(timeout, subsystem) {}
-bool TimedCommand::IsFinished() { return IsTimedOut(); }
+bool TimedCommand::IsFinished() {
+ return IsTimedOut();
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/WaitCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/WaitCommand.cpp
index d326193..b4d44e0 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/WaitCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/WaitCommand.cpp
@@ -1,16 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/WaitCommand.h"
+#include <fmt/format.h>
+
using namespace frc;
-WaitCommand::WaitCommand(double timeout)
- : TimedCommand("Wait(" + std::to_string(timeout) + ")", timeout) {}
+WaitCommand::WaitCommand(units::second_t timeout)
+ : TimedCommand(fmt::format("Wait({})", timeout.value()), timeout) {}
-WaitCommand::WaitCommand(const wpi::Twine& name, double timeout)
+WaitCommand::WaitCommand(std::string_view name, units::second_t timeout)
: TimedCommand(name, timeout) {}
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/WaitForChildren.cpp b/wpilibOldCommands/src/main/native/cpp/commands/WaitForChildren.cpp
index 374c11c..e02a630 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/WaitForChildren.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/WaitForChildren.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/WaitForChildren.h"
@@ -11,10 +8,10 @@
using namespace frc;
-WaitForChildren::WaitForChildren(double timeout)
+WaitForChildren::WaitForChildren(units::second_t timeout)
: Command("WaitForChildren", timeout) {}
-WaitForChildren::WaitForChildren(const wpi::Twine& name, double timeout)
+WaitForChildren::WaitForChildren(std::string_view name, units::second_t timeout)
: Command(name, timeout) {}
bool WaitForChildren::IsFinished() {
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/WaitUntilCommand.cpp b/wpilibOldCommands/src/main/native/cpp/commands/WaitUntilCommand.cpp
index 07ff00b..bb127b1 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/WaitUntilCommand.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/WaitUntilCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
#include "frc/commands/WaitUntilCommand.h"
@@ -11,14 +8,16 @@
using namespace frc;
-WaitUntilCommand::WaitUntilCommand(double time)
+WaitUntilCommand::WaitUntilCommand(units::second_t time)
: Command("WaitUntilCommand", time) {
m_time = time;
}
-WaitUntilCommand::WaitUntilCommand(const wpi::Twine& name, double time)
+WaitUntilCommand::WaitUntilCommand(std::string_view name, units::second_t time)
: Command(name, time) {
m_time = time;
}
-bool WaitUntilCommand::IsFinished() { return Timer::GetMatchTime() >= m_time; }
+bool WaitUntilCommand::IsFinished() {
+ return Timer::GetMatchTime() >= m_time;
+}