mirror of
https://github.com/wpilibsuite/allwpilib
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79 lines
2.5 KiB
C
79 lines
2.5 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <set>
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#include <unordered_map>
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#include <utility>
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#include <vector>
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#include "CommandGroupBase.h"
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#include "CommandHelper.h"
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namespace frc2 {
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/**
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* A CommandGroup that runs a set of commands in parallel, ending when any one
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* of the commands ends and interrupting all the others.
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*
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* <p>As a rule, CommandGroups require the union of the requirements of their
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* component commands.
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*/
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class ParallelRaceGroup
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: public CommandHelper<CommandGroupBase, ParallelRaceGroup> {
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public:
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/**
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* Creates a new ParallelCommandRace. The given commands will be executed
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* simultaneously, and will "race to the finish" - the first command to finish
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* ends the entire command, with all other commands being interrupted.
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*
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* @param commands the commands to include in this group.
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*/
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explicit ParallelRaceGroup(std::vector<std::unique_ptr<Command>>&& commands);
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template <class... Types,
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typename = std::enable_if_t<std::conjunction_v<
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std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
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explicit ParallelRaceGroup(Types&&... commands) {
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AddCommands(std::forward<Types>(commands)...);
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}
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ParallelRaceGroup(ParallelRaceGroup&& other) = default;
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// No copy constructors for command groups
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ParallelRaceGroup(const ParallelRaceGroup&) = delete;
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template <class... Types>
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void AddCommands(Types&&... commands) {
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std::vector<std::unique_ptr<Command>> foo;
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((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
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std::forward<Types>(commands))),
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...);
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AddCommands(std::move(foo));
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}
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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private:
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void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) override;
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std::set<std::unique_ptr<Command>> m_commands;
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bool m_runWhenDisabled{true};
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bool m_finished{false};
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bool isRunning = false;
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};
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} // namespace frc2
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