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Add requirements param to more Command APIs (#2059)

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Assorted improvements to the ergonomics of declaring requirements in the new
command framework. C++ requirements list parameters have been defaulted
to an empty list, some missing C++ requirements list parameters have been
added, and both C++ and Java have been given requirements list params in
various InstantCommand wrapper methods (#2049), whose value is
forwarded to the command.
This commit is contained in:
Oblarg
2019-11-08 21:30:30 -05:00
committed by Peter Johnson
parent ff39a96cee
commit 00228678d4
18 changed files with 97 additions and 59 deletions
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10
wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
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@@ -48,19 +48,21 @@ ParallelRaceGroup Command::WithInterrupt(std::function<bool()> condition) && {
return ParallelRaceGroup(std::move(temp));
}
SequentialCommandGroup Command::BeforeStarting(std::function<void()> toRun) && {
SequentialCommandGroup Command::BeforeStarting(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::make_unique<InstantCommand>(
std::move(toRun), std::initializer_list<Subsystem*>{}));
std::move(toRun), requirements));
temp.emplace_back(std::move(*this).TransferOwnership());
return SequentialCommandGroup(std::move(temp));
}
SequentialCommandGroup Command::AndThen(std::function<void()> toRun) && {
SequentialCommandGroup Command::AndThen(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::move(*this).TransferOwnership());
temp.emplace_back(std::make_unique<InstantCommand>(
std::move(toRun), std::initializer_list<Subsystem*>{}));
std::move(toRun), requirements));
return SequentialCommandGroup(std::move(temp));
}