From 7c1f54a47ac30378d5d371526641f72a9215a8f2 Mon Sep 17 00:00:00 2001
From: sciencewhiz <sciencewhiz@users.noreply.github.com>
Date: Thu, 28 Jan 2021 21:23:25 -0800
Subject: [PATCH] Fix InstantCommand when no subsystem (#366)

Replace InstantCommand-constructor with the generic Command-constructor
Add export tests for InstantCommand
Fix AddRequirements comment
---
 .../export/cpp/Command-constructor.cpp        |  2 +-
 .../export/cpp/InstantCommand-constructor.cpp | 19 -------------------
 .../resources/export/cpp/InstantCommand.cpp   |  2 +-
 .../resources/export/cpp/InstantCommand.h     |  2 ++
 src/main/resources/export/cpp/files.yaml      |  2 +-
 src/test/java/robotbuilder/TestUtils.java     |  9 +++++++++
 6 files changed, 14 insertions(+), 22 deletions(-)
 delete mode 100644 src/main/resources/export/cpp/InstantCommand-constructor.cpp

diff --git a/src/main/resources/export/cpp/Command-constructor.cpp b/src/main/resources/export/cpp/Command-constructor.cpp
index e913c2b0..05ed6200 100644
--- 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(${command.getProperty("Requires").getValue().toLowerCase()}));
diff --git a/src/main/resources/export/cpp/InstantCommand-constructor.cpp b/src/main/resources/export/cpp/InstantCommand-constructor.cpp
deleted file mode 100644
index fded0c6d..00000000
--- a/src/main/resources/export/cpp/InstantCommand-constructor.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-#set($command = $helper.getByName($command_name, $robot))
-#set($params = $command.getProperty("Parameters").getValue())
-#set($len = $params.size() - 2)
-#set($last = $len + 1)
-
-#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($last))#end): InstantCommand() {
-#else
-#class($command.name)::#class($command.name)(#class(${command.getProperty("Requires").getValue()})* #variable(${command.getProperty("Requires").getValue().toLowerCase()})): InstantCommand() {
-#end
-    #foreach($param in $params)
-m_$param.getName() = $param.getName();
-    #end
-    // Use AddRequirements() here to declare subsystem dependencies
-    // eg. AddRequirements(Robot::chassis.get());
-    SetName("#class($command.name)");
-    #if  (${command.getProperty("Requires").getValue()} != "None")
-    AddRequirements(#variable(${command.getProperty("Requires").getValue().toLowerCase()}));
-    #end
\ No newline at end of file
diff --git a/src/main/resources/export/cpp/InstantCommand.cpp b/src/main/resources/export/cpp/InstantCommand.cpp
index 7ef2e938..678e06a2 100644
--- 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
index 9aa327b6..e51b8090 100644
--- 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
index 62a3845a..595ad7d6 100644
--- 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
index 7a42e746..e45dd8d2 100644
--- 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");