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[commands] Add withDeadline modifier (#7299)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
Daniel Chen
2024-12-13 20:30:02 -05:00
committed by GitHub
parent 5e3dba672a
commit 68285dae77
7 changed files with 153 additions and 0 deletions
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4
wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
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@@ -121,6 +121,10 @@ CommandPtr Command::OnlyIf(std::function<bool()> condition) && {
return std::move(*this).ToPtr().OnlyIf(std::move(condition));
}
CommandPtr Command::WithDeadline(CommandPtr&& deadline) && {
return std::move(*this).ToPtr().WithDeadline(std::move(deadline));
}
CommandPtr Command::DeadlineFor(CommandPtr&& parallel) && {
return std::move(*this).ToPtr().DeadlineFor(std::move(parallel));
}

9
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
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@@ -168,6 +168,15 @@ CommandPtr CommandPtr::OnlyIf(std::function<bool()> condition) && {
return std::move(*this).Unless(std::not_fn(std::move(condition)));
}
CommandPtr CommandPtr::WithDeadline(CommandPtr&& deadline) && {
AssertValid();
std::vector<std::unique_ptr<Command>> vec;
vec.emplace_back(std::move(m_ptr));
m_ptr = std::make_unique<ParallelDeadlineGroup>(std::move(deadline).Unwrap(),
std::move(vec));
return std::move(*this);
}
CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
AssertValid();
std::vector<std::unique_ptr<Command>> vec;