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[commands] Add until() as alias for withInterrupt() (#3981)

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This is a clearer description for the functionality.
Will deprecate withInterrupt next year.
This commit is contained in:
Oblarg
2022-02-04 01:14:52 -05:00
committed by GitHub
parent 16bf2c70c5
commit 6a6366b0d6
12 changed files with 50 additions and 14 deletions
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21
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
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@@ -91,10 +91,29 @@ public interface Command {
* @param condition the interrupt condition
* @return the command with the interrupt condition added
*/
default ParallelRaceGroup withInterrupt(BooleanSupplier condition) {
default ParallelRaceGroup until(BooleanSupplier condition) {
return raceWith(new WaitUntilCommand(condition));
}
/**
* Decorates this command with an interrupt condition. If the specified condition becomes true
* before the command finishes normally, the command will be interrupted and un-scheduled. Note
* that this only applies to the command returned by this method; the calling command is not
* itself changed.
*
* <p>Note: This decorator works by composing this command within a CommandGroup. The command
* cannot be used independently after being decorated, or be re-decorated with a different
* decorator, unless it is manually cleared from the list of grouped commands with {@link
* CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
* decorated without issue.
*
* @param condition the interrupt condition
* @return the command with the interrupt condition added
*/
default ParallelRaceGroup withInterrupt(BooleanSupplier condition) {
return until(condition);
}
/**
* Decorates this command with a runnable to run before this command starts.
*

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
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@@ -9,7 +9,7 @@ import edu.wpi.first.wpilibj.Notifier;
/**
* A command that starts a notifier to run the given runnable periodically in a separate thread. Has
* no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
* Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
* Command#until(java.util.function.BooleanSupplier)} to give it one.
*
* <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
* code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you

4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
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@@ -10,8 +10,8 @@ import java.util.function.BooleanSupplier;
/**
* A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or
* use {@link Command#withTimeout(double)} or {@link Command#withInterrupt(BooleanSupplier)} to give
* it one. If you only wish to execute a Runnable once, use {@link InstantCommand}.
* use {@link Command#withTimeout(double)} or {@link Command#until(BooleanSupplier)} to give it one.
* If you only wish to execute a Runnable once, use {@link InstantCommand}.
*
* <p>This class is provided by the NewCommands VendorDep
*/

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
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@@ -10,7 +10,7 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
* A command that runs a given runnable when it is initialized, and another runnable when it ends.
* Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no
* end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
* Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
* Command#until(java.util.function.BooleanSupplier)} to give it one.
*
* <p>This class is provided by the NewCommands VendorDep
*/