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72 lines
2.5 KiB
Python
72 lines
2.5 KiB
Python
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# validated: 2024-01-24 DS 192a28af4731 DeferredCommand.java
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from typing import Callable
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from wpiutil import SendableBuilder
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from .command import Command
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from .commandscheduler import CommandScheduler
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from .printcommand import PrintCommand
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from .subsystem import Subsystem
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class DeferredCommand(Command):
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"""
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Defers Command construction to runtime. Runs the command returned by a supplier when this command
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is initialized, and ends when it ends. Useful for performing runtime tasks before creating a new
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command. If this command is interrupted, it will cancel the command.
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Note that the supplier *must* create a new Command each call. For selecting one of a
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preallocated set of commands, use :class:`commands2.SelectCommand`.
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"""
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def __init__(self, supplier: Callable[[], Command], *requirements: Subsystem):
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"""
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Creates a new DeferredCommand that directly runs the supplied command when initialized, and
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ends when it ends. Useful for lazily creating commands when the DeferredCommand is initialized,
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such as if the supplied command depends on runtime state. The Supplier will be called
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each time this command is initialized. The Supplier *must* create a new Command each call.
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:param supplier: The command supplier
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:param requirements: The command requirements.
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"""
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super().__init__()
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assert callable(supplier)
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self._null_command = PrintCommand(
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f"[DeferredCommand] Supplied command (from {supplier!r} was None!"
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)
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self._supplier = supplier
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self._command = self._null_command
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self.addRequirements(*requirements)
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def initialize(self):
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cmd = self._supplier()
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if cmd is not None:
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self._command = cmd
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CommandScheduler.getInstance().registerComposedCommands([self._command])
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self._command.initialize()
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def execute(self):
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self._command.execute()
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def isFinished(self):
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return self._command.isFinished()
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def end(self, interrupted):
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self._command.end(interrupted)
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self._command = self._null_command
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def initSendable(self, builder: SendableBuilder):
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super().initSendable(builder)
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builder.addStringProperty(
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"deferred",
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lambda: (
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"null"
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if self._command is self._null_command
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else self._command.getName()
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),
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lambda _: None,
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)
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