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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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29
wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
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@@ -16,25 +16,18 @@
#include <vector>
#include "frc2/command/CommandBase.h"
#include "frc2/command/CommandGroupBase.h"
#include "frc2/command/PrintCommand.h"
namespace frc2 {
/**
* Runs one of a selection of commands, either using a selector and a key to
* command mapping, or a supplier that returns the command directly at runtime.
* Does not actually schedule the selected command - rather, the command is run
* through this command; this ensures that the command will behave as expected
* if used as part of a CommandGroup. Requires the requirements of all included
* commands, again to ensure proper functioning when used in a CommandGroup. If
* this is undesired, consider using ScheduleCommand.
* A command composition that runs one of a selection of commands, either using
* a selector and a key to command mapping, or a supplier that returns the
* command directly at runtime.
*
* <p>As this command contains multiple component commands within it, it is
* technically a command group; the command instances that are passed to it
* cannot be added to any other groups, or scheduled individually.
*
* <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
*/
@@ -61,9 +54,7 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
...);
for (auto&& command : foo) {
if (!CommandGroupBase::RequireUngrouped(*command.second)) {
return;
}
CommandScheduler::GetInstance().RequireUngrouped(command.second.get());
}
for (auto&& command : foo) {
@@ -82,9 +73,7 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
std::vector<std::pair<Key, std::unique_ptr<Command>>>&& commands)
: m_selector{std::move(selector)} {
for (auto&& command : commands) {
if (!CommandGroupBase::RequireUngrouped(*command.second)) {
return;
}
CommandScheduler::GetInstance().RequireUngrouped(command.second.get());
}
for (auto&& command : commands) {