allwpilib/wpilibc/shared/include/Commands/CommandGroup.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __COMMAND_GROUP_H__
#define __COMMAND_GROUP_H__

#include "Commands/Command.h"
#include "Commands/CommandGroupEntry.h"
#include <list>
#include <vector>

/**
 * A {@link CommandGroup} is a list of commands which are executed in sequence.
 *
 * <p>Commands in a {@link CommandGroup} are added using the {@link
 * CommandGroup#AddSequential(Command) AddSequential(...)} method
 * and are called sequentially.
 * {@link CommandGroup CommandGroups} are themselves {@link Command Commands}
 * and can be given to other {@link CommandGroup CommandGroups}.</p>
 *
 * <p>{@link CommandGroup CommandGroups} will carry all of the requirements of
 * their {@link Command subcommands}.  Additional
 * requirements can be specified by calling {@link
 *CommandGroup#Requires(Subsystem) Requires(...)}
 * normally in the constructor.</P>
 *
 * <p>CommandGroups can also execute commands in parallel, simply by adding them
 * using {@link CommandGroup#AddParallel(Command) AddParallel(...)}.</p>
 *
 * @see Command
 * @see Subsystem
 */
class CommandGroup : public Command {
 public:
  CommandGroup() = default;
  CommandGroup(const std::string &name);
  virtual ~CommandGroup() = default;

  void AddSequential(Command *command);
  void AddSequential(Command *command, double timeout);
  void AddParallel(Command *command);
  void AddParallel(Command *command, double timeout);
  bool IsInterruptible() const;
  int GetSize() const;

 protected:
  virtual void Initialize();
  virtual void Execute();
  virtual bool IsFinished();
  virtual void End();
  virtual void Interrupted();
  virtual void _Initialize();
  virtual void _Interrupted();
  virtual void _Execute();
  virtual void _End();

 private:
  void CancelConflicts(Command *command);

  /** The commands in this group (stored in entries) */
  std::vector<CommandGroupEntry> m_commands;

  /** The active children in this group (stored in entries) */
  std::list<CommandGroupEntry> m_children;

  /** The current command, -1 signifies that none have been run */
  int m_currentCommandIndex = -1;
};

#endif