Port Commands to Pure Python

.github/workflows/dist.yml

@@ -11,14 +11,9 @@ on:
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2023
+    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2024-alpha
     with:
       enable_sphinx_check: false
     secrets:
-      SSH_USER: ${{ secrets.SSH_USER }}
-      SSH_KEY: ${{ secrets.SSH_KEY }}
-      SSH_PASSPHRASE: ${{ secrets.SSH_PASSPHRASE }}
       META_REPO_ACCESS_TOKEN: ${{ secrets.REPO_ACCESS_TOKEN }}
-      RTD_TOKEN: ${{ secrets.RTD_TOKEN }}
-      RTD_WEBHOOK: ${{ secrets.RTD_WEBHOOK }}
       PYPI_API_TOKEN: ${{ secrets.PYPI_PASSWORD }}

commands2/__init__.py

@@ -1,96 +1,87 @@
-from . import _init_impl
-
-from .version import version as __version__
-
-# autogenerated by 'robotpy-build create-imports commands2 commands2._impl'
-from ._impl import (
-    Command,
-    CommandBase,
-    CommandGroupBase,
-    CommandScheduler,
-    ConditionalCommand,
-    FunctionalCommand,
-    InstantCommand,
-    MecanumControllerCommand,
-    NotifierCommand,
-    PIDCommand,
-    PIDSubsystem,
-    ParallelCommandGroup,
-    ParallelDeadlineGroup,
-    ParallelRaceGroup,
-    PerpetualCommand,
-    PrintCommand,
-    ProfiledPIDCommand,
-    ProfiledPIDSubsystem,
-    ProxyScheduleCommand,
-    RamseteCommand,
-    RepeatCommand,
-    RunCommand,
-    ScheduleCommand,
-    SelectCommand,
-    SequentialCommandGroup,
-    StartEndCommand,
-    Subsystem,
-    SubsystemBase,
-    Swerve2ControllerCommand,
-    Swerve3ControllerCommand,
-    Swerve4ControllerCommand,
-    Swerve6ControllerCommand,
-    TimedCommandRobot,
-    TrapezoidProfileCommand,
-    TrapezoidProfileCommandRadians,
-    TrapezoidProfileSubsystem,
-    TrapezoidProfileSubsystemRadians,
-    Trigger,
-    WaitCommand,
-    WaitUntilCommand,
-    # button,
-    # cmd,
-    requirementsDisjoint,
+from . import button
+from .command import Command, InterruptionBehavior
+from .commandfactories import (
+    deadline,
+    either,
+    none,
+    parallel,
+    print_,
+    race,
+    repeatingSequence,
+    run,
+    runEnd,
+    runOnce,
+    select,
+    sequence,
+    startEnd,
+    waitSeconds,
+    waitUntil,
 )
+from .commandgroup import CommandGroup, IllegalCommandUse
+from .commandscheduler import CommandScheduler
+from .conditionalcommand import ConditionalCommand
+from .functionalcommand import FunctionalCommand
+from .instantcommand import InstantCommand
+from .notifiercommand import NotifierCommand
+from .parallelcommandgroup import ParallelCommandGroup
+from .paralleldeadlinegroup import ParallelDeadlineGroup
+from .parallelracegroup import ParallelRaceGroup
+from .perpetualcommand import PerpetualCommand
+from .printcommand import PrintCommand
+from .proxycommand import ProxyCommand
+from .proxyschedulecommand import ProxyScheduleCommand
+from .repeatcommand import RepeatCommand
+from .runcommand import RunCommand
+from .schedulecommand import ScheduleCommand
+from .selectcommand import SelectCommand
+from .sequentialcommandgroup import SequentialCommandGroup
+from .startendcommand import StartEndCommand
+from .subsystem import Subsystem
+from .waitcommand import WaitCommand
+from .waituntilcommand import WaitUntilCommand
+from .wrappercommand import WrapperCommand
 
 __all__ = [
+    "button",
     "Command",
-    "CommandBase",
-    "CommandGroupBase",
+    "CommandGroup",
     "CommandScheduler",
     "ConditionalCommand",
-    "SelectCommand",
     "FunctionalCommand",
+    "IllegalCommandUse",
     "InstantCommand",
-    "MecanumControllerCommand",
+    "InterruptionBehavior",
     "NotifierCommand",
-    "PIDCommand",
-    "PIDSubsystem",
     "ParallelCommandGroup",
     "ParallelDeadlineGroup",
     "ParallelRaceGroup",
     "PerpetualCommand",
     "PrintCommand",
-    "ProfiledPIDCommand",
-    "ProfiledPIDSubsystem",
+    "ProxyCommand",
     "ProxyScheduleCommand",
-    "RamseteCommand",
     "RepeatCommand",
     "RunCommand",
     "ScheduleCommand",
+    "SelectCommand",
     "SequentialCommandGroup",
     "StartEndCommand",
     "Subsystem",
-    "SubsystemBase",
-    "Swerve2ControllerCommand",
-    "Swerve3ControllerCommand",
-    "Swerve4ControllerCommand",
-    "Swerve6ControllerCommand",
-    "TimedCommandRobot",
-    "TrapezoidProfileCommand",
-    "TrapezoidProfileCommandRadians",
-    "TrapezoidProfileSubsystem",
-    "TrapezoidProfileSubsystemRadians",
-    "Trigger",
     "WaitCommand",
     "WaitUntilCommand",
-    # "button",
-    # "cmd",
-    "requirementsDisjoint",
+    "WrapperCommand",
+    "none",
+    "runOnce",
+    "run",
+    "startEnd",
+    "runEnd",
+    "print_",
+    "waitSeconds",
+    "waitUntil",
+    "either",
+    "select",
+    "sequence",
+    "repeatingSequence",
+    "parallel",
+    "race",
+    "deadline",
 ]

commands2/button/__init__.py

@@ -1,17 +1,14 @@
-# autogenerated by 'robotpy-build create-imports commands2.button commands2._impl.button'
-from .._impl.button import (
-    Button,
-    CommandGenericHID,
-    CommandJoystick,
-    CommandPS4Controller,
-    CommandXboxController,
-    JoystickButton,
-    NetworkButton,
-    POVButton,
-)
+from .commandgenerichid import CommandGenericHID
+from .commandjoystick import CommandJoystick
+from .commandps4controller import CommandPS4Controller
+from .commandxboxcontroller import CommandXboxController
+from .joystickbutton import JoystickButton
+from .networkbutton import NetworkButton
+from .povbutton import POVButton
+from .trigger import Trigger
 
 __all__ = [
-    "Button",
+    "Trigger",
     "CommandGenericHID",
     "CommandJoystick",
     "CommandPS4Controller",

commands2/button/commandgenerichid.py

@@ -0,0 +1,190 @@
+from typing import Optional
+
+from wpilib.event import EventLoop
+from wpilib.interfaces import GenericHID
+
+from ..commandscheduler import CommandScheduler
+from .trigger import Trigger
+
+
+class CommandGenericHID:
+    """
+    A version of GenericHID with Trigger factories for command-based.
+    """
+
+    def __init__(self, port: int):
+        """
+        Construct an instance of a device.
+
+        :param port: The port on the Driver Station that the device is plugged into.
+        """
+        self._hid = GenericHID(port)
+
+    def getHID(self) -> GenericHID:
+        """
+        Get the underlying GenericHID object.
+        """
+        return self._hid
+
+    def button(self, button: int, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: The button index
+        :param loop: the event loop instance to attache the event to.
+        """
+        if loop is None:
+            loop = CommandScheduler().getDefaultButtonLoop()
+        return Trigger(loop, lambda: self._hid.getRawButtonPressed(button))
+
+    def pov(
+        self, angle: int, *, pov: int = 0, loop: Optional[EventLoop] = None
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance based around this angle of a POV on the HID.
+
+        The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90,
+        upper-left is 315).
+
+        :param angle: POV angle in degrees, or -1 for the center / not pressed.
+        :param pov: index of the POV to read (starting at 0). Defaults to 0.
+        :param loop: the event loop instance to attach the event to. Defaults to {@link
+            CommandScheduler#getDefaultButtonLoop() the default command scheduler button loop}.
+        :returns: a Trigger instance based around this angle of a POV on the HID.
+        """
+        if loop is None:
+            loop = CommandScheduler().getDefaultButtonLoop()
+        return Trigger(loop, lambda: self._hid.getPOV(pov) == angle)
+
+    def povUp(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 0 degree angle (up) of the default (index 0) POV
+        on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+        scheduler button loop}.
+
+        :returns: a Trigger instance based around the 0 degree angle of a POV on the HID.
+        """
+        return self.pov(0)
+
+    def povUpRight(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 45 degree angle (right up) of the default (index
+        0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default
+        command scheduler button loop}.
+
+        :returns: a Trigger instance based around the 45 degree angle of a POV on the HID.
+        """
+        return self.pov(45)
+
+    def povRight(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 90 degree angle (right) of the default (index 0)
+        POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+        scheduler button loop}.
+
+        :returns: a Trigger instance based around the 90 degree angle of a POV on the HID.
+        """
+        return self.pov(90)
+
+    def povDownRight(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 135 degree angle (right down) of the default
+        (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
+        default command scheduler button loop}.
+
+        :returns: a Trigger instance based around the 135 degree angle of a POV on the HID.
+        """
+        return self.pov(135)
+
+    def povDown(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 180 degree angle (down) of the default (index 0)
+        POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+        scheduler button loop}.
+
+        :returns: a Trigger instance based around the 180 degree angle of a POV on the HID.
+        """
+        return self.pov(180)
+
+    def povDownLeft(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 225 degree angle (down left) of the default
+        (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
+        default command scheduler button loop}.
+
+        :returns: a Trigger instance based around the 225 degree angle of a POV on the HID.
+        """
+        return self.pov(225)
+
+    def povLeft(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 270 degree angle (left) of the default (index 0)
+        POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+        scheduler button loop}.
+
+        :returns: a Trigger instance based around the 270 degree angle of a POV on the HID.
+        """
+        return self.pov(270)
+
+    def povUpLeft(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the 315 degree angle (left up) of the default (index
+        0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default
+        command scheduler button loop}.
+
+        :returns: a Trigger instance based around the 315 degree angle of a POV on the HID.
+        """
+        return self.pov(315)
+
+    def povCenter(self) -> Trigger:
+        """
+        Constructs a Trigger instance based around the center (not pressed) position of the default
+        (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
+        default command scheduler button loop}.
+
+        :returns: a Trigger instance based around the center position of a POV on the HID.
+        """
+        return self.pov(-1)
+
+    def axisLessThan(
+        self, axis: int, threshold: float, loop: Optional[EventLoop] = None
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+        attached to the given loop.
+
+        :param axis: The axis to read, starting at 0
+        :param threshold: The value below which this trigger should return true.
+        :param loop: the event loop instance to attach the trigger to
+        :returns: a Trigger instance that is true when the axis value is less than the provided
+            threshold.
+        """
+        if loop is None:
+            loop = CommandScheduler().getDefaultButtonLoop()
+        return Trigger(loop, lambda: self._hid.getRawAxis(axis) < threshold)
+
+    def axisGreaterThan(
+        self, axis: int, threshold: float, loop: Optional[EventLoop] = None
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater than {@code
+        threshold}, attached to the given loop.
+
+        :param axis: The axis to read, starting at 0
+        :param threshold: The value above which this trigger should return true.
+        :param loop: the event loop instance to attach the trigger to.
+        :returns: a Trigger instance that is true when the axis value is greater than the provided
+            threshold.
+        """
+        if loop is None:
+            loop = CommandScheduler().getDefaultButtonLoop()
+        return Trigger(loop, lambda: self._hid.getRawAxis(axis) > threshold)
+
+    def getRawAxis(self, axis: int) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: The axis to read, starting at 0.
+        :returns: The value of the axis.
+        """
+        return self._hid.getRawAxis(axis)