[commands] Add CommandRobot

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandRobot.java

@@ -0,0 +1,81 @@
+// 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.
+
+package edu.wpi.first.wpilibj2.command;
+
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * CommandRobot is a wrapper over TimedRobot designed to work well with Command based programming.
+ *
+ * <p>The CommandRobot class is intended to be subclassed by a user creating a robot program.
+ */
+public class CommandRobot extends TimedRobot {
+  private CommandScheduler m_scheduler = CommandScheduler.getInstance();
+
+  /// The Command run during autonomous.
+  protected Command m_autonomousCommand =
+      Commands.print("Default auto Command override autonomousInit to add your own.");
+
+  /** Constructor for CommandRobot. */
+  protected CommandRobot() {
+    this(kDefaultPeriod);
+  }
+
+  /**
+   * Constructor for CommandRobot.
+   *
+   * @param period Period in seconds.
+   */
+  protected CommandRobot(double period) {
+    super(period);
+    HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_CommandControl);
+  }
+
+  @Override
+  public final void robotInit() {}
+
+  @Override
+  public final void robotPeriodic() {
+    m_scheduler.run();
+  }
+
+  @Override
+  public void autonomousInit() {
+    if (m_autonomousCommand != null) {
+      m_scheduler.schedule(m_autonomousCommand);
+    }
+  }
+
+  @Override
+  public final void autonomousPeriodic() {}
+
+  @Override
+  public void autonomousExit() {}
+
+  @Override
+  public final void teleopInit() {
+    if (m_autonomousCommand != null) {
+      m_scheduler.cancel(m_autonomousCommand);
+    }
+  }
+
+  @Override
+  public final void teleopPeriodic() {}
+
+  @Override
+  public final void teleopExit() {}
+
+  @Override
+  public final void disabledInit() {}
+
+  @Override
+  public final void disabledPeriodic() {}
+
+  @Override
+  public final void disabledExit() {}
+}

wpilibNewCommands/src/main/native/include/frc2/command/CommandRobot.h

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+// 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.
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <hal/FRCUsageReporting.h>
+#include <units/time.h>
+
+#include "frc2/command/CommandPtr.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/Commands.h"
+
+namespace frc2 {
+/**
+  CommandRobot is a wrapper over TimedRobot designed to work well with Command
+ * based programming.
+ *
+ * <p>The CommandRobot class is intended to be subclassed by a user creating a
+ * robot program.
+ */
+class CommandRobot : public frc::TimedRobot {
+ protected:
+  frc2::CommandScheduler& m_scheduler = frc2::CommandScheduler::GetInstance();
+
+  /// The Command run during autonomous.
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::Print(
+      "Default auto Command override autonomousInit to add your own.");
+
+  /**
+   * Constructor for CommandRobot.
+   *
+   * @param period Period in seconds.
+   */
+  explicit CommandRobot(units::second_t period = kDefaultPeriod)
+      : frc::TimedRobot(period) {
+    HAL_Report(HALUsageReporting::kResourceType_Framework,
+               HALUsageReporting::kFramework_CommandControl);
+  }
+
+ public:
+  void RobotInit() final {}
+
+  void RobotPeriodic() final { m_scheduler.Run(); }
+
+  void AutonomousInit() final {
+    if (m_autonomousCommand) {
+      m_scheduler.Schedule(m_autonomousCommand);
+    }
+  }
+
+  void AutonomousPeriodic() final {}
+
+  void AutonomousExit() final {}
+
+  void TeleopInit() final {
+    if (m_autonomousCommand) {
+      m_scheduler.Cancel(m_autonomousCommand);
+    }
+  }
+
+  void TeleopPeriodic() final {}
+
+  void TeleopExit() final {}
+
+  void DisabledInit() final {}
+
+  void DisabledPeriodic() final {}
+
+  void DisabledExit() final {}
+};
+}  // namespace frc2