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[commands] Add C++ versions of Java-only decorators (#4457)

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This commit is contained in:
Starlight220
2022-10-10 19:00:11 +03:00
committed by GitHub
parent 27b173374e
commit 1497665f96
2 changed files with 131 additions and 15 deletions
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73
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
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@@ -80,36 +80,44 @@ CommandPtr CommandPtr::WithInterruptBehavior(
CommandPtr CommandPtr::AndThen(std::function<void()> toRun,
wpi::span<Subsystem* const> requirements) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::move(m_ptr));
temp.emplace_back(
std::make_unique<InstantCommand>(std::move(toRun), requirements));
m_ptr = std::make_unique<SequentialCommandGroup>(std::move(temp));
return std::move(*this);
return std::move(*this).AndThen(CommandPtr(
std::make_unique<InstantCommand>(std::move(toRun), requirements)));
}
CommandPtr CommandPtr::AndThen(
std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) && {
return std::move(*this).AndThen(std::move(toRun),
{requirements.begin(), requirements.end()});
return std::move(*this).AndThen(CommandPtr(
std::make_unique<InstantCommand>(std::move(toRun), requirements)));
}
CommandPtr CommandPtr::BeforeStarting(
std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
CommandPtr CommandPtr::AndThen(CommandPtr&& next) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(
std::make_unique<InstantCommand>(std::move(toRun), requirements));
temp.emplace_back(std::move(m_ptr));
temp.emplace_back(std::move(next).Unwrap());
m_ptr = std::make_unique<SequentialCommandGroup>(std::move(temp));
return std::move(*this);
}
CommandPtr CommandPtr::BeforeStarting(
std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
return std::move(*this).BeforeStarting(CommandPtr(
std::make_unique<InstantCommand>(std::move(toRun), requirements)));
}
CommandPtr CommandPtr::BeforeStarting(
std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) && {
return std::move(*this).BeforeStarting(
std::move(toRun), {requirements.begin(), requirements.end()});
return std::move(*this).BeforeStarting(CommandPtr(
std::make_unique<InstantCommand>(std::move(toRun), requirements)));
}
CommandPtr CommandPtr::BeforeStarting(CommandPtr&& before) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::move(before).Unwrap());
temp.emplace_back(std::move(m_ptr));
m_ptr = std::make_unique<SequentialCommandGroup>(std::move(temp));
return std::move(*this);
}
CommandPtr CommandPtr::WithTimeout(units::second_t duration) && {
@@ -135,10 +143,38 @@ CommandPtr CommandPtr::Unless(std::function<bool()> condition) && {
return std::move(*this);
}
CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
std::vector<std::unique_ptr<Command>> vec;
vec.emplace_back(std::move(parallel).Unwrap());
m_ptr =
std::make_unique<ParallelDeadlineGroup>(std::move(m_ptr), std::move(vec));
return std::move(*this);
}
CommandPtr CommandPtr::AlongWith(CommandPtr&& parallel) && {
std::vector<std::unique_ptr<Command>> vec;
vec.emplace_back(std::move(m_ptr));
vec.emplace_back(std::move(parallel).Unwrap());
m_ptr = std::make_unique<ParallelCommandGroup>(std::move(vec));
return std::move(*this);
}
CommandPtr CommandPtr::RaceWith(CommandPtr&& parallel) && {
std::vector<std::unique_ptr<Command>> vec;
vec.emplace_back(std::move(m_ptr));
vec.emplace_back(std::move(parallel).Unwrap());
m_ptr = std::make_unique<ParallelRaceGroup>(std::move(vec));
return std::move(*this);
}
Command* CommandPtr::get() const {
return m_ptr.get();
}
std::unique_ptr<Command> CommandPtr::Unwrap() && {
return std::move(m_ptr);
}
void CommandPtr::Schedule() const {
CommandScheduler::GetInstance().Schedule(*this);
}
@@ -154,3 +190,12 @@ bool CommandPtr::IsScheduled() const {
bool CommandPtr::HasRequirement(Subsystem* requirement) const {
return m_ptr->HasRequirement(requirement);
}
std::vector<std::unique_ptr<Command>> CommandPtr::UnwrapVector(
std::vector<CommandPtr>&& vec) {
std::vector<std::unique_ptr<Command>> ptrs;
for (auto&& ptr : vec) {
ptrs.emplace_back(std::move(ptr).Unwrap());
}
return ptrs;
}