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Improve command decorator names (#1945)

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This commit is contained in:
Oblarg
2019-10-19 11:13:33 -04:00
committed by Peter Johnson
parent a38f183a98
commit 53816155ba
18 changed files with 47 additions and 46 deletions
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34
wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
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@@ -99,26 +99,10 @@ public interface Command {
* @param condition the interrupt condition
* @return the command with the interrupt condition added
*/
default Command interruptOn(BooleanSupplier condition) {
default Command withInterrupt(BooleanSupplier condition) {
return new ParallelRaceGroup(this, new WaitUntilCommand(condition));
}
/**
* Decorates this command with a runnable to run after the command finishes.
*
* <p>Note: This decorator works by composing this command within a CommandGroup. The command
* cannot be used independently after being decorated, or be re-decorated with a different
* decorator, unless it is manually cleared from the list of grouped commands with
* {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
* further decorated without issue.
*
* @param toRun the Runnable to run
* @return the decorated command
*/
default Command whenFinished(Runnable toRun) {
return new SequentialCommandGroup(this, new InstantCommand(toRun));
}
/**
* Decorates this command with a runnable to run before this command starts.
*
@@ -135,6 +119,22 @@ public interface Command {
return new SequentialCommandGroup(new InstantCommand(toRun), this);
}
/**
* Decorates this command with a runnable to run after the command finishes.
*
* <p>Note: This decorator works by composing this command within a CommandGroup. The command
* cannot be used independently after being decorated, or be re-decorated with a different
* decorator, unless it is manually cleared from the list of grouped commands with
* {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
* further decorated without issue.
*
* @param toRun the Runnable to run
* @return the decorated command
*/
default Command andThen(Runnable toRun) {
return new SequentialCommandGroup(this, new InstantCommand(toRun));
}
/**
* Decorates this command with a set of commands to run after it in sequence. Often more
* convenient/less-verbose than constructing a new {@link SequentialCommandGroup} explicitly.

2
wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
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@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.Notifier;
/**
* A command that starts a notifier to run the given runnable periodically in a separate thread.
* Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
* {@link Command#interruptOn(BooleanSupplier)} to give it one.
* {@link Command#withInterrupt(BooleanSupplier)} to give it one.
*
* <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
* code thread-safe. If you do not know what "thread-safe" means, that is a good sign that

2
wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
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@@ -14,7 +14,7 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* A command that runs a Runnable continuously. Has no end condition as-is;
* either subclass it or use {@link Command#withTimeout(double)} or
* {@link Command#interruptOn(BooleanSupplier)} to give it one. If you only wish
* {@link Command#withInterrupt(BooleanSupplier)} to give it one. If you only wish
* to execute a Runnable once, use {@link InstantCommand}.
*/
public class RunCommand extends CommandBase {

2
wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
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@@ -15,7 +15,7 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
* A command that runs a given runnable when it is initalized, and another runnable when it ends.
* Useful for running and then stopping a motor, or extending and then retracting a solenoid.
* Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
* {@link Command#interruptOn(BooleanSupplier)} to give it one.
* {@link Command#withInterrupt(BooleanSupplier)} to give it one.
*/
public class StartEndCommand extends CommandBase {
protected final Runnable m_onInit;