Merge pull request #1 from cwstryker/cwstryker/generic_types_test

Generic typing option using TypeVar

Author: cwstryker

.gittrack

@@ -1,5 +1,6 @@
 [git-source-track]
 upstream_root = ../allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command
 upstream_branch = main
-upstream_commit = 4595f84719759d71491e11e8df55d60ce2a6154c
-validation_root = commands2
+upstream_commit = 9206b47d6708cbae61506e962c633d722884a26f
+validation_root = commands2
+

commands2/button/commandgenerichid.py

@@ -39,7 +39,7 @@ def button(self, button: int, loop: Optional[EventLoop] = None) -> Trigger:
         """
         if loop is None:
             loop = CommandScheduler.getInstance().getDefaultButtonLoop()
-        return Trigger(loop, lambda: self._hid.getRawButtonPressed(button))
+        return Trigger(loop, lambda: self._hid.getRawButton(button))
 
     def pov(
         self, angle: int, *, pov: int = 0, loop: Optional[EventLoop] = None

commands2/deferredcommand.py

@@ -56,8 +56,10 @@ def initSendable(self, builder: SendableBuilder):
         super().initSendable(builder)
         builder.addStringProperty(
             "deferred",
-            lambda: "null"
-            if self._command is self._null_command
-            else self._command.getName(),
+            lambda: (
+                "null"
+                if self._command is self._null_command
+                else self._command.getName()
+            ),
             lambda _: None,
         )

commands2/profiledpidsubsystem.py

@@ -2,14 +2,15 @@
 # Open Source Software; you can modify and/or share it under the terms of
 # the WPILib BSD license file in the root directory of this project.
 
-from typing import Union, cast
+from typing import Generic
 
 from wpimath.trajectory import TrapezoidProfile
 
 from .subsystem import Subsystem
+from .typing import GenericProfiledPIDController
 
 
-class ProfiledPIDSubsystem(Subsystem):
+class ProfiledPIDSubsystem(Subsystem, Generic[GenericProfiledPIDController]):
     """
     A subsystem that uses a :class:`wpimath.controller.ProfiledPIDController`
     or :class:`wpimath.controller.ProfiledPIDControllerRadians` to
@@ -19,12 +20,12 @@ class ProfiledPIDSubsystem(Subsystem):
 
     def __init__(
         self,
-        controller,
+        controller: GenericProfiledPIDController,
         initial_position: float = 0,
     ):
         """Creates a new PIDSubsystem."""
         super().__init__()
-        self._controller = controller
+        self._controller: GenericProfiledPIDController = controller
         self._enabled = False
         self.setGoal(initial_position)
 
@@ -38,7 +39,7 @@ def periodic(self):
 
     def getController(
         self,
-    ):
+    ) -> GenericProfiledPIDController:
         """Returns the controller"""
         return self._controller
 

commands2/sysid/sysidroutine.py

@@ -1,5 +1,5 @@
-# validated: 2024-01-20 DS 707cb061057f sysid/SysIdRoutine.java
-from dataclasses import dataclass
+# validated: 2024-01-26 DV 19c155647273 sysid/SysIdRoutine.java
+from dataclasses import dataclass, field
 from enum import Enum
 
 from wpilib.sysid import SysIdRoutineLog, State
@@ -78,10 +78,10 @@ class Mechanism:
         drive: Callable[[volts], None]
         log: Callable[[SysIdRoutineLog], None]
         subsystem: Subsystem
-        name: Optional[str] = None
+        name: str = None  # type: ignore[assignment]
 
         def __post_init__(self):
-            if self.name == None:
+            if self.name is None:
                 self.name = self.subsystem.getName()
 
     class Direction(Enum):
@@ -96,7 +96,7 @@ def __init__(self, config: Config, mechanism: Mechanism):
         :param config:    Hardware-independent parameters for the SysId routine.
         :param mechanism: Hardware interface for the SysId routine.
         """
-        super().__init__(mechanism.subsystem.getName())
+        super().__init__(mechanism.name)
         self.config = config
         self.mechanism = mechanism
         self.outputVolts = 0.0

commands2/typing.py

@@ -0,0 +1,7 @@
+from typing import TypeVar
+
+from wpimath.controller import ProfiledPIDController, ProfiledPIDControllerRadians
+
+GenericProfiledPIDController = TypeVar(
+    "GenericProfiledPIDController", ProfiledPIDControllerRadians, ProfiledPIDController
+)

tests/test_command_decorators.py

@@ -64,8 +64,7 @@ def test_beforeStarting(scheduler: commands2.CommandScheduler):
 
 
 @pytest.mark.skip
-def test_andThenLambda(scheduler: commands2.CommandScheduler):
-    ...
+def test_andThenLambda(scheduler: commands2.CommandScheduler): ...
 
 
 def test_andThen(scheduler: commands2.CommandScheduler):