New command framework for C++ (#248)

Update to export New Command Framework. Fixes #191
Use uniform initialization in header. Fixes #80

Co-authored-by: Joe <sciencewhiz@users.noreply.github.com>

src/main/java/robotbuilder/actions/ExporterAction.java

@@ -33,13 +33,13 @@ public ExporterAction(String description) {
     @Override
     public void actionPerformed(ActionEvent ae) {
         boolean newProject = false;
-        MainFrame.getInstance().setCursor(Cursor.WAIT_CURSOR);
+        MainFrame.getInstance().setCursor(new Cursor(Cursor.WAIT_CURSOR));
         try {
             newProject = exporter.export(MainFrame.getInstance().getCurrentRobotTree());
         } catch (IOException ex) {
             Logger.getLogger(ExporterAction.class.getName()).log(Level.SEVERE, null, ex);
         }
-        MainFrame.getInstance().setCursor(Cursor.DEFAULT_CURSOR);
+        MainFrame.getInstance().setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
         if (newProject)
             JOptionPane.showMessageDialog(MainFrame.getInstance(),
                 "Project successfully exported for the first time. Open project directory in"

src/main/resources/export/cpp/Command-constructor-header.h

@@ -3,7 +3,9 @@
 #set($len = $params.size() - 2)
 #set($last = $len + 1)
 #if( $params.size() > 0 )
-	#class($command.name)(#if( $len >= 0 )#foreach($i in [0..$len])#param_declaration_cpp($params.get($i)), #end#end#param_declaration_cpp($params.get($last)));
+    explicit #class($command.name)(#if( $len >= 0 )#foreach($i in [0..$len])#param_declaration_cpp($params.get($i)), #end#end#param_declaration_cpp($params.get($last))#if (${command.getProperty("Requires").getValue()} != "None"), #class(${command.getProperty("Requires").getValue()})* #variable(${command.getProperty("Requires").getValue().toLowerCase()})#end);
+#elseif (${command.getProperty("Requires").getValue()} == "None")
+    explicit #class($command.name)();
 #else
-	#class($command.name)();
+    explicit #class($command.name)(#class(${command.getProperty("Requires").getValue()})* #variable(${command.getProperty("Requires").getValue().toLowerCase()}));
 #end

src/main/resources/export/cpp/Command-constructor-variables.h

@@ -9,3 +9,16 @@
 ## generates Foo m_foo;
 #end
 #end
+
+#set($command = $helper.getByName($command_name, $robot))
+#set($first = 1)
+#if ($command.getProperty("Requires").getValue() != "None")
+    #if($first)
+#class(${command.getProperty("Requires").getValue()})* m_#variable(${command.getProperty("Requires").getValue().toLowerCase()});
+        #set($first = 0)
+    #else
+        ## AddRequirements(Robot::#variable(${command.getProperty("Requires").getValue()}));
+,#class(${command.getProperty("Requires").getValue()})* m_#variable(${command.getProperty("Requires").getValue().toLowerCase()});
+#end
+#end
+

src/main/resources/export/cpp/Command-constructor.cpp

@@ -2,22 +2,26 @@
 #set($params = $command.getProperty("Parameters").getValue())
 #set($len = $params.size() - 2)
 #set($last = $len + 1)
-#macro( klass $cmd )#if( "#type($cmd)" == "" )Command#else#type($cmd)#end#end
+
+\#include "commands/#class($command.name).h"
 
 #if( $params.size() > 0 )
-#class($command.name)::#class($command.name)(#if( $len >= 0 )#foreach($i in [0..$len])#param_declaration_cpp($params.get($i)), #end#end#if( $last >= 0 )#param_declaration_cpp($params.get($last))#end): #klass($command)() {
+#class($command.name)::#class($command.name)(#if( $len >= 0 )#foreach($i in [0..$len])#param_declaration_cpp($params.get($i)), #end#end#if( $last >= 0 )#param_declaration_cpp($params.get($last))#end#if(${command.getProperty("Requires").getValue()} != "None") ,#class(${command.getProperty("Requires").getValue()})* #variable(${command.getProperty("Requires").getValue().toLowerCase()})#end) :
+#foreach($param in $params)
+    m_$param.getName()($param.getName())
+#end
+#if(${command.getProperty("Requires").getValue()} != "None"),     m_#variable(${command.getProperty("Requires").getValue().toLowerCase()})(#variable(${command.getProperty("Requires").getValue().toLowerCase()}))#end
+{
+#elseif(${command.getProperty("Requires").getValue()} == "None")
+#class($command.name)::#class($command.name)(){
 #else
-#class($command.name)::#class($command.name)(): #klass($command)() {
+#class($command.name)::#class($command.name)(#class(${command.getProperty("Requires").getValue()})* #variable(${command.getProperty("Requires").getValue().toLowerCase()}))
+:m_#variable(${command.getProperty("Requires").getValue().toLowerCase()})(#variable(${command.getProperty("Requires").getValue().toLowerCase()})){
 #end
-    #foreach($param in $params)
-m_$param.getName() = $param.getName();
+
+    // Use AddRequirements() here to declare subsystem dependencies
+    // eg. AddRequirements(Robot::chassis.get());
+    SetName("#class($command.name)");
+    #if  (${command.getProperty("Requires").getValue()} != "None")
+    AddRequirements(m_#variable(${command.getProperty("Requires").getValue().toLowerCase()}));
     #end
-    // Use Requires() here to declare subsystem dependencies
-    // eg. Requires(Robot::chassis.get());
-#@autogenerated_code("requires", "    ")
-#parse("${exporter_path}Command-requires.cpp")
-#end
-#if ( $command.getProperty("Run When Disabled").getValue() )
-    SetRunWhenDisabled(true);
-#end
-}

src/main/resources/export/cpp/Command-disabled.cpp

@@ -0,0 +1,6 @@
+#set($command = $helper.getByName($command_name, $robot))
+#if ( $command.getProperty("Run When Disabled").getValue() )
+    return true;
+#else
+    return false;
+#end

src/main/resources/export/cpp/Command.cpp

@@ -2,12 +2,12 @@
 #set($params = $command.getProperty("Parameters").getValue())
 #header()
 
-\#include "Commands/#class($command.name).h"
-
 #@autogenerated_code("constructor", "")
 #parse("${exporter_path}Command-constructor.cpp")
 #end
 
+}
+
 // Called just before this Command runs the first time
 void #class($command.name)::Initialize() {
 
@@ -24,12 +24,12 @@ bool #class($command.name)::IsFinished() {
 }
 
 // Called once after isFinished returns true
-void #class($command.name)::End() {
+void #class($command.name)::End(bool interrupted) {
 
 }
 
-// Called when another command which requires one or more of the same
-// subsystems is scheduled to run
-void #class($command.name)::Interrupted() {
-
+bool #class($command.name)::RunsWhenDisabled() const {
+#@autogenerated_code("disabled", "    ")
+#parse("${exporter_path}Command-disabled.cpp")
+#end
 }

src/main/resources/export/cpp/Command.h

@@ -1,32 +1,33 @@
 #set($command = $helper.getByName($command_name, $robot))
-#macro( klass $cmd )#if( "#type($cmd)" == "" )frc::Command#else frc::#type($cmd)#end#end
+#macro( klass $cmd ) frc2::CommandHelper<#type($cmd), $cmd.name>#end
 #header()
 
 #pragma once
 
-\#include "frc/commands/Command.h"
-\#include "frc/commands/Subsystem.h"
-\#include "Robot.h"
+#@autogenerated_code("includes", "    ")
+#parse("${exporter_path}command-includes.h")
+#end
 
 /**
  *
  *
  * @author ExampleAuthor
  */
-class #class($command.name): public #klass($command) {
+class #class($command.name): public frc2::CommandHelper<#type($command), #class($command.name)> {
 public:
 #@autogenerated_code("constructor", "    ")
 #parse("${exporter_path}Command-constructor-header.h")
 #end
 
-	void Initialize() override;
-	void Execute() override;
-	bool IsFinished() override;
-	void End() override;
-	void Interrupted() override;
+void Initialize() override;
+void Execute() override;
+bool IsFinished() override;
+void End(bool interrupted) override;
+bool RunsWhenDisabled() const override;
+
 
 private:
-#@autogenerated_code("variables", "	")
+#@autogenerated_code("variables", "    ")
 #parse("${exporter_path}Command-constructor-variables.h")
 #end
 };

src/main/resources/export/cpp/CommandBasedRobot-autonomous.cpp

@@ -5,15 +5,11 @@
 #if ($component.getBase().getType() == "Command"
      && $component.getProperty("Autonomous Selection").getValue())
 #if( $component.getProperty("Parameter presets").getValue().isEmpty())
-	chooser.AddOption("$component.getName()", new #class($component.getName())());
+    chooser.AddOption("$component.getName()", new #class($component.getName())());
 #else
 #foreach( $set in $component.getProperty("Parameter presets").getValue() )
-	chooser.AddOption("$component.getName(): $set.getName()", #command_instantiation( $component.getName(), $set.getParameters() ));
+    chooser.AddOption("$component.getName(): $set.getName()", #command_instantiation( $component.getName(), $set.getParameters() ));
 #end
 #end
 #end
 #end
-
-#if($command != "None")
-	chooser.SetDefaultOption("$command", #command_instantiation( $command, $params));
-#end

src/main/resources/export/cpp/CommandBasedRobot-declarations.cpp

@@ -1,6 +1,6 @@
 #foreach ($component in $components)
 #if ($helper.exportsTo("Robot", $component))
-	#declaration($component)
+    #declaration($component)
 
 #end
 #end

src/main/resources/export/cpp/CommandBasedRobot-includes.h

@@ -1,10 +1,10 @@
 #set($autonomous = $robot.getProperty("Autonomous Command").getValue())
-#if($autonomous != "None")\#include "Commands/#class($autonomous).h"
+#if($autonomous != "None")\#include "commands/#class($autonomous).h"
 #end
 #foreach( $component in $components )
 #if ($component.getBase().getType() == "Command"
      && $component.getProperty("Autonomous Selection").getValue())
-\#include "Commands/#class($component.getName()).h"
+\#include "commands/#class($component.getName()).h"
 #end
 #end
 ${helper.getImports($robot, "Robot")}

src/main/resources/export/cpp/CommandBasedRobot-initialization.cpp

@@ -1,6 +1,5 @@
 #foreach ($component in $components)
 #if ($helper.exportsTo("Robot", $component))
-std::shared_ptr<#class($component.name)> Robot::#variable($component.name);
+#class($component.name)* m_#variable($component.name);
 #end
 #end
-std::unique_ptr<OI> Robot::oi;

src/main/resources/export/cpp/CommandBasedRobot.cpp

@@ -2,73 +2,65 @@
 
 \#include "Robot.h"
 
-\#include <hal/FRCUsageReporting.h>
-
-\#include <frc/commands/Scheduler.h>
 \#include <frc/smartdashboard/SmartDashboard.h>
+\#include <frc2/command/CommandScheduler.h>
 
-#@autogenerated_code("initialization", "	")
-#parse("${exporter_path}CommandBasedRobot-initialization.cpp")
-#end
-
-void Robot::RobotInit() {
-#@autogenerated_code("constructors", "	")
-#parse("${exporter_path}CommandBasedRobot-constructors.cpp")
-#end
-	// This MUST be here. If the OI creates Commands (which it very likely
-	// will), constructing it during the construction of CommandBase (from
-	// which commands extend), subsystems are not guaranteed to be
-	// yet. Thus, their Requires() statements may grab null pointers. Bad
-	// news. Don't move it.
-	oi.reset(new OI());
-
-	HAL_Report(HALUsageReporting::kResourceType_Framework,
-		HALUsageReporting::kFramework_RobotBuilder);
-
-	// Add commands to Autonomous Sendable Chooser
-#@autogenerated_code("autonomous", "	")
-#parse("${exporter_path}CommandBasedRobot-autonomous.cpp")
-#end
-	frc::SmartDashboard::PutData("Auto Modes", &chooser);
-}
+void Robot::RobotInit() {}
 
 /**
- * This function is called when the disabled button is hit.
- * You can use it to reset subsystems before shutting down.
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
  */
-void Robot::DisabledInit(){
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
 
-}
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
 
-void Robot::DisabledPeriodic() {
-	frc::Scheduler::GetInstance()->Run();
-}
+void Robot::DisabledPeriodic() {}
 
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
 void Robot::AutonomousInit() {
-	autonomousCommand = chooser.GetSelected();
-	if (autonomousCommand != nullptr)
-		autonomousCommand->Start();
-}
+  m_autonomousCommand = m_container.GetAutonomousCommand();
 
-void Robot::AutonomousPeriodic() {
-	frc::Scheduler::GetInstance()->Run();
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Schedule();
+  }
 }
 
+void Robot::AutonomousPeriodic() {}
+
 void Robot::TeleopInit() {
-	// This makes sure that the autonomous stops running when
-	// teleop starts running. If you want the autonomous to
-	// continue until interrupted by another command, remove
-	// these lines or comment it out.
-	if (autonomousCommand != nullptr)
-		autonomousCommand->Cancel();
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Cancel();
+    m_autonomousCommand = nullptr;
+  }
 }
 
-void Robot::TeleopPeriodic() {
-	frc::Scheduler::GetInstance()->Run();
-}
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
-int main(int argc, char** argv) {
-    return frc::StartRobot<Robot>();
-}
-#endif
+int main() { return frc::StartRobot<Robot>(); }
+#endif

src/main/resources/export/cpp/CommandBasedRobot.h

@@ -1,30 +1,27 @@
 #header()
 #pragma once
 
-\#include "frc/TimedRobot.h"
-\#include "frc/commands/Command.h"
-\#include "frc/livewindow/LiveWindow.h"
-\#include "frc/smartdashboard/SendableChooser.h"
+\#include <frc/TimedRobot.h>
+\#include <frc2/command/Command.h>
 
-#@autogenerated_code("includes", "")
-#parse("${exporter_path}CommandBasedRobot-includes.h")
-#end
-\#include "OI.h"
+\#include "RobotContainer.h"
 
 class Robot : public frc::TimedRobot {
-public:
-	frc::Command* autonomousCommand = nullptr;
-	static std::unique_ptr<OI> oi;
-	frc::LiveWindow *lw = frc::LiveWindow::GetInstance();
-	frc::SendableChooser<frc::Command*> chooser;
-#@autogenerated_code("declarations", "	")
-#parse("${exporter_path}CommandBasedRobot-declarations.cpp")
-#end
-	void RobotInit() override;
-	void DisabledInit() override;
-	void DisabledPeriodic() override;
-	void AutonomousInit() override;
-	void AutonomousPeriodic() override;
-	void TeleopInit() override;
-	void TeleopPeriodic() override;
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+
+ private:
+  // Have it null by default so that if testing teleop it
+  // doesn't have undefined behavior and potentially crash.
+  frc2::Command* m_autonomousCommand = nullptr;
+
+  RobotContainer m_container;
 };