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[commands] C++: Add CommandPtr supplier constructor to ProxyCommand (#5572)

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Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
This commit is contained in:
Ryan Blue
2023-08-29 16:23:00 -04:00
committed by GitHub
parent 36d514eae7
commit 39a73b5b58
2 changed files with 18 additions and 6 deletions
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13
wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
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@@ -11,13 +11,20 @@ using namespace frc2;
ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
: m_supplier(std::move(supplier)) {}
ProxyCommand::ProxyCommand(wpi::unique_function<CommandPtr()> supplier)
: ProxyCommand([supplier = std::move(supplier),
holder = std::optional<CommandPtr>{}]() mutable {
holder = supplier();
return holder->get();
}) {}
ProxyCommand::ProxyCommand(Command* command)
: m_supplier([command] { return command; }) {
: ProxyCommand([command] { return command; }) {
SetName(std::string{"Proxy("}.append(command->GetName()).append(")"));
}
ProxyCommand::ProxyCommand(std::unique_ptr<Command> command)
: m_supplier([command = std::move(command)] { return command.get(); }) {}
: ProxyCommand([command = std::move(command)] { return command.get(); }) {}
void ProxyCommand::Initialize() {
m_command = m_supplier();
@@ -31,8 +38,6 @@ void ProxyCommand::End(bool interrupted) {
m_command = nullptr;
}
void ProxyCommand::Execute() {}
bool ProxyCommand::IsFinished() {
// because we're between `initialize` and `end`, `m_command` is necessarily
// not null but if called otherwise and m_command is null, it's UB, so we can

11
wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
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@@ -31,6 +31,15 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
*/
explicit ProxyCommand(wpi::unique_function<Command*()> supplier);
/**
* Creates a new ProxyCommand that schedules the supplied command when
* initialized, and ends when it is no longer scheduled. Useful for lazily
* creating commands at runtime.
*
* @param supplier the command supplier
*/
explicit ProxyCommand(wpi::unique_function<CommandPtr()> supplier);
/**
* Creates a new ProxyCommand that schedules the given command when
* initialized, and ends when it is no longer scheduled.
@@ -56,8 +65,6 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
void End(bool interrupted) override;
void Execute() override;
bool IsFinished() override;
void InitSendable(wpi::SendableBuilder& builder) override;