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Initial python wrapper implementation
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‎.gitignore

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*.py[ciod]
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*.egg-info
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*.dll
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*.so
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*.dylib
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py.typed
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/build
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/dist
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/.vscode
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/wpilib/buttons/rpy-include
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/wpilib/buttons/_init_commands_v1_buttons.py
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/wpilib/buttons/pkgcfg.py
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/commands2/_init_impl.py
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/commands2/include
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/commands2/lib
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/commands2/rpy-include
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/commands2/pkgcfg.py
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/commands2/version.py

‎commands2/__init__.py

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from . import _init_impl
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from .version import version as __version__
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# autogenerated by 'robotpy-build create-imports commands2 commands2._impl'
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from ._impl import (
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Command,
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CommandBase,
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CommandGroupBase,
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CommandScheduler,
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CommandState,
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ConditionalCommand,
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FunctionalCommand,
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InstantCommand,
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MecanumControllerCommand,
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NotifierCommand,
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PIDCommand,
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PIDSubsystem,
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ParallelCommandGroup,
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ParallelDeadlineGroup,
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ParallelRaceGroup,
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PerpetualCommand,
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PrintCommand,
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ProfiledPIDCommand,
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ProfiledPIDSubsystem,
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ProxyScheduleCommand,
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RamseteCommand,
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RunCommand,
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ScheduleCommand,
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SequentialCommandGroup,
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StartEndCommand,
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Subsystem,
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SubsystemBase,
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Swerve2ControllerCommand,
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Swerve3ControllerCommand,
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Swerve4ControllerCommand,
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Swerve6ControllerCommand,
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TimedCommandRobot,
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TrapezoidProfileCommand,
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TrapezoidProfileCommandRadians,
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TrapezoidProfileSubsystem,
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TrapezoidProfileSubsystemRadians,
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Trigger,
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WaitCommand,
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WaitUntilCommand,
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# button,
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requirementsDisjoint,
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)
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__all__ = [
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"Command",
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"CommandBase",
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"CommandGroupBase",
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"CommandScheduler",
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"CommandState",
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"ConditionalCommand",
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"FunctionalCommand",
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"InstantCommand",
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"MecanumControllerCommand",
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"NotifierCommand",
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"PIDCommand",
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"PIDSubsystem",
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"ParallelCommandGroup",
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"ParallelDeadlineGroup",
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"ParallelRaceGroup",
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"PerpetualCommand",
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"PrintCommand",
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"ProfiledPIDCommand",
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"ProfiledPIDSubsystem",
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"ProxyScheduleCommand",
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"RamseteCommand",
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"RunCommand",
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"ScheduleCommand",
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"SequentialCommandGroup",
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"StartEndCommand",
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"Subsystem",
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"SubsystemBase",
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"Swerve2ControllerCommand",
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"Swerve3ControllerCommand",
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"Swerve4ControllerCommand",
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"Swerve6ControllerCommand",
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"TimedCommandRobot",
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"TrapezoidProfileCommand",
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"TrapezoidProfileCommandRadians",
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"TrapezoidProfileSubsystem",
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"TrapezoidProfileSubsystemRadians",
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"Trigger",
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"WaitCommand",
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"WaitUntilCommand",
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# "button",
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"requirementsDisjoint",
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]

‎commands2/button/__init__.py

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# autogenerated by 'robotpy-build create-imports commands2.button commands2._impl.button'
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from .._impl.button import Button, JoystickButton, NetworkButton, POVButton
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__all__ = ["Button", "JoystickButton", "NetworkButton", "POVButton"]

‎commands2/src/Command.cpp.inl

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// Decorators taken from Java
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#define DECORATOR_NOTE \
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"\n" \
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"Note: This decorator works by composing this command within a CommandGroup. The command\n" \
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"cannot be used independently after being decorated, or be re-decorated with a different\n" \
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"decorator, unless it is manually cleared from the list of grouped commands with Command.setGrouped(False)\n" \
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"The decorated command can, however, be further decorated without issue\n"
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cls_Command
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.def("andThen",
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[](Command* self, py::args cmds) {
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std::vector<std::shared_ptr<Command>> commands;
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commands.emplace_back(self->shared_from_this());
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for (auto cmd : cmds) {
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auto cmdptr = py::cast<std::shared_ptr<Command>>(cmd);
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commands.emplace_back(cmdptr);
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}
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return std::make_shared<SequentialCommandGroup>(std::move(commands));
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},
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"Decorates this command with a set of commands to run after it in sequence. Often more\n"
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"convenient/less-verbose than constructing a new {@link SequentialCommandGroup} explicitly.\n"
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DECORATOR_NOTE)
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.def("alongWith",
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[](Command* self, py::args cmds) {
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std::vector<std::shared_ptr<Command>> commands;
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commands.emplace_back(self->shared_from_this());
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for (auto cmd : cmds) {
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auto cmdptr = py::cast<std::shared_ptr<Command>>(cmd);
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commands.emplace_back(cmdptr);
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}
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return std::make_shared<ParallelCommandGroup>(std::move(commands));
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},
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"Decorates this command with a set of commands to run parallel to it, "
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"ending when the last\n"
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"command ends. Often more convenient/less-verbose than constructing a new\n"
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"ParallelCommandGroup explicitly.\n"
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DECORATOR_NOTE)
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.def("deadlineWith",
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[](Command* self, py::args cmds) {
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return std::make_shared<ParallelDeadlineGroup>(
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self->shared_from_this(), std::move(pyargs2cmdList(cmds)));
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},
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"Decorates this command with a set of commands to run parallel to it, ending when the calling\n"
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"command ends and interrupting all the others. Often more convenient/less-verbose than\n"
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"constructing a new {@link ParallelDeadlineGroup} explicitly.\n"
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DECORATOR_NOTE)
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.def("raceWith",
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[](Command* self, py::args cmds) {
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std::vector<std::shared_ptr<Command>> commands;
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commands.emplace_back(self->shared_from_this());
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for (auto cmd : cmds) {
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auto cmdptr = py::cast<std::shared_ptr<Command>>(cmd);
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commands.emplace_back(cmdptr);
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}
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return std::make_shared<ParallelRaceGroup>(std::move(commands));
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},
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"Decorates this command with a set of commands to run parallel to it, ending when the first\n"
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"command ends. Often more convenient/less-verbose than constructing a new\n"
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"ParallelRaceGroup explicitly.\n"
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DECORATOR_NOTE)
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;
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‎commands2/src/TimedCommandRobot.h

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#pragma once
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#include <frc/TimedRobot.h>
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#include <frc2/command/CommandScheduler.h>
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namespace frc2 {
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/**
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* TimedCommandRobot implements the IterativeRobotBase robot program framework.
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*
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* The TimedCommandRobot class is intended to be subclassed by a user creating a
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* command-based robot program. This python-specific class calls the
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* CommandScheduler run method in robotPeriodic for you.
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*/
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class TimedCommandRobot : public frc::TimedRobot {
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public:
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/** Ensures commands are run */
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void RobotPeriodic() override { CommandScheduler::GetInstance().Run(); }
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};
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} // namespace frc2

‎commands2/src/Trigger.cpp.inl

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cls_Trigger
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.def("and_", [](Trigger * self, Trigger * other) {
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return *self && *other;
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}, py::arg("other"),
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"Composes this trigger with another trigger, returning a new trigger that is active when both\n"
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"triggers are active.\n"
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"\n"
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":param trigger: the trigger to compose with\n"
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"\n"
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":returns: the trigger that is active when both triggers are active\n")
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.def("or_", [](Trigger * self, Trigger * other) {
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return *self || *other;
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}, py::arg("other"),
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"Composes this trigger with another trigger, returning a new trigger that is active when either\n"
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"triggers are active.\n"
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"\n"
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":param trigger: the trigger to compose with\n"
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"\n"
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":returns: the trigger that is active when both triggers are active\n")
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.def("not_", [](Trigger * self) {
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return !*self;
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},
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"Creates a new trigger that is active when this trigger is inactive, i.e. that acts as the\n"
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"negation of this trigger.\n"
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"\n"
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":param trigger: the trigger to compose with\n"
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"\n"
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":returns: the trigger that is active when both triggers are active\n");

‎commands2/src/cpp/frc2/command/CommandScheduler.cpp

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return scheduler;
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}
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void CommandScheduler::ResetInstance() {
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CommandScheduler& instance = GetInstance();
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std::make_unique<Impl>().swap(instance.m_impl);
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}
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void CommandScheduler::SetPeriod(units::second_t period) {
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m_watchdog.SetTimeout(period);
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}

‎commands2/src/helpers.cpp

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#include "helpers.h"
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std::vector<std::shared_ptr<frc2::Command>> pyargs2cmdList(py::args cmds) {
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std::vector<std::shared_ptr<frc2::Command>> commands;
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for (auto cmd : cmds) {
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commands.emplace_back(py::cast<std::shared_ptr<frc2::Command>>(cmd));
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}
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return commands;
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}
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std::vector<std::shared_ptr<frc2::Subsystem>> pyargs2SharedSubsystemList(py::args subs) {
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std::vector<std::shared_ptr<frc2::Subsystem>> subsystems;
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for (auto sub : subs) {
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subsystems.emplace_back(py::cast<std::shared_ptr<frc2::Subsystem>>(sub));
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}
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return subsystems;
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}
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std::vector<frc2::Subsystem*> pyargs2SubsystemList(py::args subs) {
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std::vector<frc2::Subsystem*> subsystems;
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for (auto sub : subs) {
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subsystems.emplace_back(py::cast<frc2::Subsystem*>(sub));
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}
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return subsystems;
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}

‎commands2/src/helpers.h

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#pragma once
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#include <robotpy_build.h>
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#include <frc2/command/Command.h>
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#include <frc2/command/Subsystem.h>
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std::vector<std::shared_ptr<frc2::Command>> pyargs2cmdList(py::args cmds);
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std::vector<std::shared_ptr<frc2::Subsystem>> pyargs2SharedSubsystemList(py::args subs);
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std::vector<frc2::Subsystem*> pyargs2SubsystemList(py::args subs);

‎commands2/src/include/frc2/command/CommandScheduler.h

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*/
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static CommandScheduler& GetInstance();
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/**
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* python-specific: clear the global command scheduler instance
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*/
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static void ResetInstance();
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~CommandScheduler() override;
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CommandScheduler(const CommandScheduler&) = delete;
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CommandScheduler& operator=(const CommandScheduler&) = delete;

‎commands2/src/main.cpp

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#include "rpygen_wrapper.hpp"
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RPYBUILD_PYBIND11_MODULE(m)
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{
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initWrapper(m);
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}

‎gen/Button.yml

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---
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extra_includes:
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- frc2/command/Command.h
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- frc2/command/Subsystem.h
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classes:
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Button:
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shared_ptr: true
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force_no_trampoline: true
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subpackage: button
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methods:
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Button:
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overloads:
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std::function<bool ( )>:
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"":
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WhenPressed:
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overloads:
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std::shared_ptr<Command>, bool:
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T&&, bool:
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ignore: true
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std::function<void ( )>, std::initializer_list<std::shared_ptr<Subsystem>>:
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ignore: true
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std::function<void ( )>, wpi::ArrayRef<std::shared_ptr<Subsystem>>:
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WhileHeld:
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overloads:
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std::shared_ptr<Command>, bool:
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T&&, bool:
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ignore: true
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std::function<void ( )>, std::initializer_list<std::shared_ptr<Subsystem>>:
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ignore: true
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std::function<void ( )>, wpi::ArrayRef<std::shared_ptr<Subsystem>>:
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WhenHeld:
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overloads:
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std::shared_ptr<Command>, bool:
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T&&, bool:
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ignore: true
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WhenReleased:
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overloads:
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std::shared_ptr<Command>, bool:
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T&&, bool:
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ignore: true
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std::function<void ( )>, std::initializer_list<std::shared_ptr<Subsystem>>:
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ignore: true
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std::function<void ( )>, wpi::ArrayRef<std::shared_ptr<Subsystem>>:
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ToggleWhenPressed:
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overloads:
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std::shared_ptr<Command>, bool:
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T&&, bool:
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ignore: true
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CancelWhenPressed:

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