More fixes

wpilibsuite · Dec 20, 2024 · 0d215d8 · 0d215d8
1 parent 95a8ae5
commit 0d215d8
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Showing 12 changed files with 20 additions and 17 deletions.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -615,7 +615,7 @@ public void initSendable(SendableBuilder builder) {
         value -> {
           if (value) {
             if (!isScheduled()) {
-              schedule();
+              CommandScheduler.getInstance().schedule(this);
             }
           } else {
             if (isScheduled()) {

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -38,7 +38,7 @@ Trigger Trigger::OnChange(Command* command) {
 Trigger Trigger::OnChange(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (previous != current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -56,7 +56,7 @@ Trigger Trigger::OnTrue(Command* command) {
 Trigger Trigger::OnTrue(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -74,7 +74,7 @@ Trigger Trigger::OnFalse(Command* command) {
 Trigger Trigger::OnFalse(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (previous && !current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -94,7 +94,7 @@ Trigger Trigger::WhileTrue(Command* command) {
 Trigger Trigger::WhileTrue(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
     } else if (previous && !current) {
       command.Cancel();
     }
@@ -116,7 +116,7 @@ Trigger Trigger::WhileFalse(Command* command) {
 Trigger Trigger::WhileFalse(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
     } else if (previous && !current) {
       command.Cancel();
     }
@@ -143,7 +143,7 @@ Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
       if (command.IsScheduled()) {
         command.Cancel();
       } else {
-        command.Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
       }
     }
   });
@@ -169,7 +169,7 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
       if (command.IsScheduled()) {
         command.Cancel();
       } else {
-        command.Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
       }
     }
   });

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
@@ -296,7 +296,10 @@ class CommandPtr final {
 
   /**
    * Schedules this command.
+   *
+   * @deprecated Use CommandScheduler::GetInstance().Schedule() instead
    */
+  [[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
   void Schedule() const&;
 
   // Prevent calls on a temporary, as the returned pointer would be invalid

diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
@@ -82,7 +82,7 @@ TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {
 
 TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
   // Scheduled and false -> cancel
-  frc2::CommandScheduler::GetInstance().Schedule(m_command);
+  frc2::CommandScheduler::GetInstance().Schedule(m_command.value());
   GetScheduler().Run();
   frc::SmartDashboard::UpdateValues();
   EXPECT_TRUE(m_command->IsScheduled());

diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
@@ -26,7 +26,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_robot.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }