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Split the two command implementations into separate libraries (#2012)

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This will allow us at the user code side to determine to include old commands, new commands or both.
This commit is contained in:
Thad House
2019-11-01 21:58:54 -07:00
committed by Peter Johnson
parent 2ad15cae19
commit 509819d83f
271 changed files with 470 additions and 91 deletions
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60
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandGroupBase.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc2/command/CommandGroupBase.h"
#include <set>
#include "frc/WPIErrors.h"
#include "frc2/command/ParallelCommandGroup.h"
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/SequentialCommandGroup.h"
using namespace frc2;
template <typename TMap, typename TKey>
static bool ContainsKey(const TMap& map, TKey keyToCheck) {
return map.find(keyToCheck) != map.end();
}
bool CommandGroupBase::RequireUngrouped(Command& command) {
if (command.IsGrouped()) {
wpi_setGlobalWPIErrorWithContext(
CommandIllegalUse,
"Commands cannot be added to more than one CommandGroup");
return false;
} else {
return true;
}
}
bool CommandGroupBase::RequireUngrouped(
wpi::ArrayRef<std::unique_ptr<Command>> commands) {
bool allUngrouped = true;
for (auto&& command : commands) {
allUngrouped &= !command.get()->IsGrouped();
}
if (!allUngrouped) {
wpi_setGlobalWPIErrorWithContext(
CommandIllegalUse,
"Commands cannot be added to more than one CommandGroup");
}
return allUngrouped;
}
bool CommandGroupBase::RequireUngrouped(
std::initializer_list<Command*> commands) {
bool allUngrouped = true;
for (auto&& command : commands) {
allUngrouped &= !command->IsGrouped();
}
if (!allUngrouped) {
wpi_setGlobalWPIErrorWithContext(
CommandIllegalUse,
"Commands cannot be added to more than one CommandGroup");
}
return allUngrouped;
}