Fix InstantCommand when no subsystem (#366)

Replace InstantCommand-constructor with the generic Command-constructor Add export tests for InstantCommand Fix AddRequirements comment
wpilibsuite · Jan 29, 2021 · 7c1f54a · 7c1f54a
1 parent 3b329f1
commit 7c1f54a
Show file tree

Hide file tree

Showing 6 changed files with 14 additions and 22 deletions.
diff --git a/src/main/resources/export/cpp/Command-constructor.cpp b/src/main/resources/export/cpp/Command-constructor.cpp
@@ -23,7 +23,7 @@
 #end
 
     // Use AddRequirements() here to declare subsystem dependencies
-    // eg. AddRequirements(Robot::chassis.get());
+    // eg. AddRequirements(m_Subsystem);
     SetName("#class($command.name)");
     #if  (${command.getProperty("Requires").getValue()} != "None")
     AddRequirements(#variable(${command.getProperty("Requires").getValue().toLowerCase()}));

diff --git a/src/main/resources/export/cpp/InstantCommand-constructor.cpp b/src/main/resources/export/cpp/InstantCommand-constructor.cpp
diff --git a/src/main/resources/export/cpp/InstantCommand.cpp b/src/main/resources/export/cpp/InstantCommand.cpp
@@ -5,7 +5,7 @@
 \#include "commands/#class($command.name).h"
 
 #@autogenerated_code("constructor", "")
-#parse("${exporter_path}InstantCommand-constructor.cpp")
+#parse("${exporter_path}Command-constructor.cpp")
 #end
 
 }

diff --git a/src/main/resources/export/cpp/InstantCommand.h b/src/main/resources/export/cpp/InstantCommand.h
@@ -4,7 +4,9 @@
 #pragma once
 
 \#include "frc2/command/InstantCommand.h"
+#if (${command.getProperty("Requires").getValue()} != "None")
 \#include "subsystems/#class(${command.getProperty("Requires").getValue()}).h"
+#end
 
 /**
  *

diff --git a/src/main/resources/export/cpp/files.yaml b/src/main/resources/export/cpp/files.yaml
@@ -199,7 +199,7 @@
   source: ${exporter_path}InstantCommand.cpp
   update: Modify
   modifications:
-    constructor: ${exporter_path}InstantCommand-constructor.cpp
+    constructor: ${exporter_path}Command-constructor.cpp
   variables:
     command_name: ${command.name}
 - !File

diff --git a/src/test/java/robotbuilder/TestUtils.java b/src/test/java/robotbuilder/TestUtils.java
@@ -204,6 +204,15 @@ public static RobotTree generateTestTree() {
         setpointCommand.getProperty("Requires").setValueAndUpdate("Wrist");
         setpointCommand.getProperty("Button on SmartDashboard").setValueAndUpdate(false);
 
+        // Create instant command
+        RobotComponent instantCommand = new RobotComponent("Instant Command 1", "Instant Command", tree);
+        commands.add(instantCommand);
+
+        // Create instant command with requires
+        RobotComponent instantCommand2 = new RobotComponent("Instant Command 2", "Instant Command", tree);
+        commands.add(instantCommand2);
+        instantCommand2.getProperty("Requires").setValueAndUpdate("Wrist");
+
         // Deal with odd references
         driveTrain.getProperty("Default Command").setValueAndUpdate("Tank Drive");
         armUpButton.getProperty("Command").setValueAndUpdate("Arm Up");