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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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12
wpilibNewCommands/src/main/native/include/frc2/command/Command.h
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@@ -309,6 +309,16 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
[[nodiscard]]
CommandPtr OnlyIf(std::function<bool()> condition) &&;
/**
* Creates a new command that runs this command and the deadline in parallel,
* finishing (and interrupting this command) when the deadline finishes.
*
* @param deadline the deadline of the command group
* @return the decorated command
* @see DeadlineFor
*/
CommandPtr WithDeadline(CommandPtr&& deadline) &&;
/**
* 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
@@ -318,9 +328,11 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
* @param parallel the commands to run in parallel. Note the parallel commands
* will be interupted when the deadline command ends
* @return the decorated command
* @see WithDeadline
*/
[[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

10
wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
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@@ -182,6 +182,16 @@ class CommandPtr final {
[[nodiscard]]
CommandPtr OnlyIf(std::function<bool()> condition) &&;
/**
* Creates a new command that runs this command and the deadline in parallel,
* finishing (and interrupting this command) when the deadline finishes.
*
* @param deadline the deadline of the command group
* @return the decorated command
* @see DeadlineFor
*/
CommandPtr WithDeadline(CommandPtr&& deadline) &&;
/**
* 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