allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <functional>
#include <initializer_list>

#include <wpi/ArrayRef.h>

#include "frc2/command/CommandBase.h"
#include "frc2/command/CommandHelper.h"

namespace frc2 {
/**
 * A command that runs a given runnable when it is initialized, and another
 * runnable when it ends. Useful for running and then stopping a motor, or
 * extending and then retracting a solenoid. Has no end condition as-is; either
 * subclass it or use Command.WithTimeout() or Command.WithInterrupt() to give
 * it one.
 */
class StartEndCommand : public CommandHelper<CommandBase, StartEndCommand> {
 public:
  /**
   * Creates a new StartEndCommand.  Will run the given runnables when the
   * command starts and when it ends.
   *
   * @param onInit       the Runnable to run on command init
   * @param onEnd        the Runnable to run on command end
   * @param requirements the subsystems required by this command
   */
  StartEndCommand(std::function<void()> onInit, std::function<void()> onEnd,
                  std::initializer_list<Subsystem*> requirements);

  /**
   * Creates a new StartEndCommand.  Will run the given runnables when the
   * command starts and when it ends.
   *
   * @param onInit       the Runnable to run on command init
   * @param onEnd        the Runnable to run on command end
   * @param requirements the subsystems required by this command
   */
  StartEndCommand(std::function<void()> onInit, std::function<void()> onEnd,
                  wpi::ArrayRef<Subsystem*> requirements = {});

  StartEndCommand(StartEndCommand&& other) = default;

  StartEndCommand(const StartEndCommand& other);

  void Initialize() override;

  void End(bool interrupted) override;

 protected:
  std::function<void()> m_onInit;
  std::function<void()> m_onEnd;
};
}  // namespace frc2