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[commands] C++: Allow CommandPtrs to be owned by the scheduler (#7310)

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Previously users would have to keep track of dynamically created CommandPtrs. This adds an ownership-taking version of schedule which places the command in a temporary store in the scheduler. The command will be freed when the command's lifecycle ends.
This commit is contained in:
Ryan Blue
2024-11-01 01:03:12 -04:00
committed by GitHub
parent 328a781040
commit 5f3cf517d3
3 changed files with 77 additions and 0 deletions
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13
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
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@@ -92,6 +92,17 @@ class CommandScheduler final : public wpi::Sendable,
*/
void Schedule(const CommandPtr& command);
/**
* Schedules a command for execution. Does nothing if the command is already
* scheduled. If a command's requirements are not available, it will only be
* started if all the commands currently using those requirements are
* interruptible. If this is the case, they will be interrupted and the
* command will be scheduled.
*
* @param command the command to schedule
*/
void Schedule(CommandPtr&& command);
/**
* Schedules a command for execution. Does nothing if the command is already
* scheduled. If a command's requirements are not available, it will only be
@@ -99,6 +110,8 @@ class CommandScheduler final : public wpi::Sendable,
* scheduled as interruptible. If this is the case, they will be interrupted
* and the command will be scheduled.
*
* The pointer must remain valid through the entire lifecycle of the command.
*
* @param command the command to schedule
*/
void Schedule(Command* command);