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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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47
wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
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@@ -4,61 +4,24 @@
#pragma once
#include <initializer_list>
#include <memory>
#include <span>
#include <vector>
#include <wpi/deprecated.h>
#include "frc2/command/CommandBase.h"
namespace frc2 {
/**
* A base for CommandGroups. Statically tracks commands that have been
* allocated to groups to ensure those commands are not also used independently,
* which can result in inconsistent command state and unpredictable execution.
* A base for CommandGroups.
*
* This class is provided by the NewCommands VendorDep
* @deprecated This class is an empty abstraction. Inherit directly from
* CommandBase.
*/
class CommandGroupBase : public CommandBase {
public:
/**
* Requires that the specified command not have been already allocated to a
* CommandGroup. Reports an error if the command is already grouped.
*
* @param command The command to check
* @return True if all the command is ungrouped.
*/
static bool RequireUngrouped(const Command& command);
/**
* Requires that the specified command not have been already allocated to a
* CommandGroup. Reports an error if the command is already grouped.
*
* @param command The command to check
* @return True if all the command is ungrouped.
*/
static bool RequireUngrouped(const Command* command);
/**
* Requires that the specified commands not have been already allocated to a
* CommandGroup. Reports an error if any of the commands are already grouped.
*
* @param commands The commands to check
* @return True if all the commands are ungrouped.
*/
static bool RequireUngrouped(
std::span<const std::unique_ptr<Command>> commands);
/**
* Requires that the specified commands not have been already allocated to a
* CommandGroup. Reports an error if any of the commands are already grouped.
*
* @param commands The commands to check
* @return True if all the commands are ungrouped.
*/
static bool RequireUngrouped(std::initializer_list<const Command*> commands);
/**
* Adds the given commands to the command group.
*