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[commands] Move GroupedCommands to CommandScheduler (#4728)

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Move the command group checking functionality from CommandGroupBase into CommandScheduler.
Update references to grouping as composition for clarity (because explicitly grouping isn't the only way to do it).
Deprecate the static factory methods parallel, race, and deadline in CommandGroupBase in favor of the identical ones in Commands.
This commit is contained in:
Starlight220
2022-12-07 07:13:31 +02:00
committed by GitHub
parent f18fd41ac3
commit 4bbdbdfb48
46 changed files with 450 additions and 472 deletions
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8
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
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@@ -60,9 +60,7 @@ Command::InterruptionBehavior ParallelDeadlineGroup::GetInterruptionBehavior()
void ParallelDeadlineGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
if (!RequireUngrouped(commands)) {
return;
}
CommandScheduler::GetInstance().RequireUngrouped(commands);
if (!m_finished) {
throw FRC_MakeError(frc::err::CommandIllegalUse,
@@ -72,7 +70,7 @@ void ParallelDeadlineGroup::AddCommands(
for (auto&& command : commands) {
if (RequirementsDisjoint(this, command.get())) {
command->SetGrouped(true);
command->SetComposed(true);
AddRequirements(command->GetRequirements());
m_runWhenDisabled &= command->RunsWhenDisabled();
if (command->GetInterruptionBehavior() ==
@@ -90,7 +88,7 @@ void ParallelDeadlineGroup::AddCommands(
void ParallelDeadlineGroup::SetDeadline(std::unique_ptr<Command>&& deadline) {
m_deadline = deadline.get();
m_deadline->SetGrouped(true);
m_deadline->SetComposed(true);
m_commands.emplace_back(std::move(deadline), false);
AddRequirements(m_deadline->GetRequirements());
m_runWhenDisabled &= m_deadline->RunsWhenDisabled();