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[commands] Add C++ Requirements struct (#5504)

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This commit is contained in:
Joseph Eng
2023-09-17 20:48:39 -07:00
committed by GitHub
parent b265a68eea
commit 633c5a8a22
43 changed files with 273 additions and 1112 deletions
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36
wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
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@@ -29,36 +29,16 @@ CommandPtr cmd::Idle() {
}
CommandPtr cmd::RunOnce(std::function<void()> action,
std::initializer_list<Subsystem*> requirements) {
Requirements requirements) {
return InstantCommand(std::move(action), requirements).ToPtr();
}
CommandPtr cmd::RunOnce(std::function<void()> action,
std::span<Subsystem* const> requirements) {
return InstantCommand(std::move(action), requirements).ToPtr();
}
CommandPtr cmd::Run(std::function<void()> action,
std::initializer_list<Subsystem*> requirements) {
return RunCommand(std::move(action), requirements).ToPtr();
}
CommandPtr cmd::Run(std::function<void()> action,
std::span<Subsystem* const> requirements) {
CommandPtr cmd::Run(std::function<void()> action, Requirements requirements) {
return RunCommand(std::move(action), requirements).ToPtr();
}
CommandPtr cmd::StartEnd(std::function<void()> start, std::function<void()> end,
std::initializer_list<Subsystem*> requirements) {
return FunctionalCommand(
std::move(start), [] {},
[end = std::move(end)](bool interrupted) { end(); },
[] { return false; }, requirements)
.ToPtr();
}
CommandPtr cmd::StartEnd(std::function<void()> start, std::function<void()> end,
std::span<Subsystem* const> requirements) {
Requirements requirements) {
return FunctionalCommand(
std::move(start), [] {},
[end = std::move(end)](bool interrupted) { end(); },
@@ -67,15 +47,7 @@ CommandPtr cmd::StartEnd(std::function<void()> start, std::function<void()> end,
}
CommandPtr cmd::RunEnd(std::function<void()> run, std::function<void()> end,
std::initializer_list<Subsystem*> requirements) {
return FunctionalCommand([] {}, std::move(run),
[end = std::move(end)](bool interrupted) { end(); },
[] { return false; }, requirements)
.ToPtr();
}
CommandPtr cmd::RunEnd(std::function<void()> run, std::function<void()> end,
std::span<Subsystem* const> requirements) {
Requirements requirements) {
return FunctionalCommand([] {}, std::move(run),
[end = std::move(end)](bool interrupted) { end(); },
[] { return false; }, requirements)