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[commands] Add missing C++ decorators (#6599)

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This commit is contained in:
Joseph Eng
2024-05-24 13:14:15 -07:00
committed by GitHub
parent 237ebfd0f2
commit 5c5e5af0c6
4 changed files with 235 additions and 65 deletions
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55
wpilibNewCommands/src/main/native/include/frc2/command/Command.h
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@@ -228,6 +228,16 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
CommandPtr BeforeStarting(std::function<void()> toRun,
Requirements requirements = {}) &&;
/**
* Decorates this command with another command to run before this command
* starts.
*
* @param before the command to run before this one
* @return the decorated command
*/
[[nodiscard]]
CommandPtr BeforeStarting(CommandPtr&& before) &&;
/**
* Decorates this command with a runnable to run after the command finishes.
*
@@ -239,6 +249,17 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
CommandPtr AndThen(std::function<void()> toRun,
Requirements requirements = {}) &&;
/**
* Decorates this command with a set of commands to run after it in sequence.
* Often more convenient/less-verbose than constructing a
* SequentialCommandGroup explicitly.
*
* @param next the commands to run next
* @return the decorated command
*/
[[nodiscard]]
CommandPtr AndThen(CommandPtr&& next) &&;
/**
* Decorates this command to run repeatedly, restarting it when it ends, until
* this command is interrupted. The decorated command can still be canceled.
@@ -288,6 +309,40 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
[[nodiscard]]
CommandPtr OnlyIf(std::function<bool()> condition) &&;
/**
* Decorates this command with a set of commands to run parallel to it, ending
* when the calling command ends and interrupting all the others. Often more
* convenient/less-verbose than constructing a new {@link
* ParallelDeadlineGroup} explicitly.
*
* @param parallel the commands to run in parallel. Note the parallel commands
* will be interupted when the deadline command ends
* @return the decorated command
*/
[[nodiscard]]
CommandPtr DeadlineFor(CommandPtr&& parallel) &&;
/**
* Decorates this command with a set of commands to run parallel to it, ending
* when the last command ends. Often more convenient/less-verbose than
* constructing a new {@link ParallelCommandGroup} explicitly.
*
* @param parallel the commands to run in parallel
* @return the decorated command
*/
[[nodiscard]]
CommandPtr AlongWith(CommandPtr&& parallel) &&;
/**
* Decorates this command with a set of commands to run parallel to it, ending
* when the first command ends. Often more convenient/less-verbose than
* constructing a new {@link ParallelRaceGroup} explicitly.
*
* @param parallel the commands to run in parallel
* @return the decorated command
*/
[[nodiscard]]
CommandPtr RaceWith(CommandPtr&& parallel) &&;
/**
* Decorates this command to run or stop when disabled.
*