mirror of
https://github.com/wpilibsuite/allwpilib
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93 lines
2.9 KiB
C
93 lines
2.9 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 <limits>
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#include <memory>
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#include <utility>
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#include <vector>
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#include <wpi/ArrayRef.h>
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#include "CommandGroupBase.h"
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#include "CommandHelper.h"
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#include "frc/ErrorBase.h"
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#include "frc/WPIErrors.h"
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namespace frc2 {
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const size_t invalid_index = std::numeric_limits<size_t>::max();
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/**
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* A CommandGroups that runs a list of commands in sequence.
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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 SequentialCommandGroup
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: public CommandHelper<CommandGroupBase, SequentialCommandGroup> {
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public:
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/**
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* Creates a new SequentialCommandGroup. The given commands will be run
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* sequentially, with the CommandGroup finishing when the last command
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* finishes.
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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 SequentialCommandGroup(
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std::vector<std::unique_ptr<Command>>&& commands);
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/**
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* Creates a new SequentialCommandGroup. The given commands will be run
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* sequentially, with the CommandGroup finishing when the last command
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* finishes.
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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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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 SequentialCommandGroup(Types&&... commands) {
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AddCommands(std::forward<Types>(commands)...);
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}
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SequentialCommandGroup(SequentialCommandGroup&& other) = default;
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// No copy constructors for command groups
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SequentialCommandGroup(const SequentialCommandGroup&) = delete;
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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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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) final;
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wpi::SmallVector<std::unique_ptr<Command>, 4> m_commands;
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size_t m_currentCommandIndex{invalid_index};
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bool m_runWhenDisabled{true};
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};
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} // namespace frc2
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