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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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22
wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
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@@ -18,11 +18,13 @@
namespace frc2 {
/**
* A CommandGroup that runs a set of commands in parallel, ending when the last
* command ends.
* A command composition that runs a set of commands in parallel, ending when
* the last command ends.
*
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
* <p>The rules for command compositions apply: command instances that are
* passed to it are owned by the composition and cannot be added to any other
* composition or scheduled individually, and the composition requires all
* subsystems its components require.
*
* This class is provided by the NewCommands VendorDep
*/
@@ -30,23 +32,23 @@ class ParallelCommandGroup
: public CommandHelper<CommandGroupBase, ParallelCommandGroup> {
public:
/**
* Creates a new ParallelCommandGroup. The given commands will be executed
* Creates a new ParallelCommandGroup. The given commands will be executed
* simultaneously. The command group will finish when the last command
* finishes. If the CommandGroup is interrupted, only the commands that are
* finishes. If the composition is interrupted, only the commands that are
* still running will be interrupted.
*
* @param commands the commands to include in this group.
* @param commands the commands to include in this composition.
*/
explicit ParallelCommandGroup(
std::vector<std::unique_ptr<Command>>&& commands);
/**
* Creates a new ParallelCommandGroup. The given commands will be executed
* Creates a new ParallelCommandGroup. The given commands will be executed
* simultaneously. The command group will finish when the last command
* finishes. If the CommandGroup is interrupted, only the commands that are
* finishes. If the composition is interrupted, only the commands that are
* still running will be interrupted.
*
* @param commands the commands to include in this group.
* @param commands the commands to include in this composition.
*/
template <class... Types,
typename = std::enable_if_t<std::conjunction_v<