Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

51
wpilibNewCommands/src/main/native/include/frc2/command/Command.h
View File

@@ -15,6 +15,7 @@
#include <wpi/SmallSet.h>
#include <wpi/sendable/Sendable.h>
#include "frc2/command/Requirements.h"
#include "frc2/command/Subsystem.h"
namespace frc2 {
@@ -104,23 +105,15 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
* is scheduled, so this method should normally be called from the command's
* constructor.
*
* @param requirements the Subsystem requirements to add
* While this overload can be used with {@code AddRequirements({&subsystem1,
* &subsystem2})}, {@code AddRequirements({&subsystem})} selects the {@code
* AddRequirements(Subsystem*)} overload, which will function identically but
* may cause warnings about redundant braces.
*
* @param requirements the Subsystem requirements to add, which can be
* implicitly constructed from an initializer list or a span
*/
void AddRequirements(std::initializer_list<Subsystem*> requirements);
/**
* Adds the specified Subsystem requirements to the command.
*
* The scheduler will prevent two commands that require the same subsystem
* from being scheduled simultaneously.
*
* Note that the scheduler determines the requirements of a command when it
* is scheduled, so this method should normally be called from the command's
* constructor.
*
* @param requirements the Subsystem requirements to add
*/
void AddRequirements(std::span<Subsystem* const> requirements);
void AddRequirements(Requirements requirements);
/**
* Adds the specified Subsystem requirements to the command.
@@ -238,18 +231,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
*/
[[nodiscard]]
CommandPtr BeforeStarting(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) &&;
/**
* Decorates this command with a runnable to run before this command starts.
*
* @param toRun the Runnable to run
* @param requirements the required subsystems
* @return the decorated command
*/
[[nodiscard]]
CommandPtr BeforeStarting(std::function<void()> toRun,
std::span<Subsystem* const> requirements = {}) &&;
Requirements requirements = {}) &&;
/**
* Decorates this command with a runnable to run after the command finishes.
@@ -260,18 +242,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
*/
[[nodiscard]]
CommandPtr AndThen(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements) &&;
/**
* Decorates this command with a runnable to run after the command finishes.
*
* @param toRun the Runnable to run
* @param requirements the required subsystems
* @return the decorated command
*/
[[nodiscard]]
CommandPtr AndThen(std::function<void()> toRun,
std::span<Subsystem* const> requirements = {}) &&;
Requirements requirements = {}) &&;
/**
* Decorates this command to run repeatedly, restarting it when it ends, until