Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[commands] Refactor ProxyScheduleCommand, SelectCommand into ProxyCommand (#4534)

Browse Source
This commit is contained in:
Starlight220
2022-11-29 00:43:10 +02:00
committed by GitHub
parent e82cd5147b
commit 70080457d5
16 changed files with 214 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
View File

@@ -12,7 +12,6 @@
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/PerpetualCommand.h"
#include "frc2/command/ProxyScheduleCommand.h"
#include "frc2/command/RepeatCommand.h"
#include "frc2/command/SequentialCommandGroup.h"
#include "frc2/command/WaitCommand.h"

4
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
View File

@@ -13,7 +13,7 @@
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/PrintCommand.h"
#include "frc2/command/ProxyScheduleCommand.h"
#include "frc2/command/ProxyCommand.h"
#include "frc2/command/RepeatCommand.h"
#include "frc2/command/SequentialCommandGroup.h"
#include "frc2/command/WaitCommand.h"
@@ -37,7 +37,7 @@ CommandPtr CommandPtr::Repeatedly() && {
CommandPtr CommandPtr::AsProxy() && {
AssertValid();
m_ptr = std::make_unique<ProxyScheduleCommand>(std::move(m_ptr));
m_ptr = std::make_unique<ProxyCommand>(std::move(m_ptr));
return std::move(*this);
}

2
wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
View File

@@ -10,9 +10,7 @@
#include "frc2/command/ParallelCommandGroup.h"
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/PerpetualCommand.h"
#include "frc2/command/PrintCommand.h"
#include "frc2/command/ProxyScheduleCommand.h"
#include "frc2/command/RunCommand.h"
#include "frc2/command/SequentialCommandGroup.h"
#include "frc2/command/WaitCommand.h"

37
wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp Normal file
View File

@@ -0,0 +1,37 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc2/command/ProxyCommand.h"
using namespace frc2;
ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
: m_supplier(std::move(supplier)) {}
ProxyCommand::ProxyCommand(Command* command)
: m_supplier([command] { return command; }) {}
ProxyCommand::ProxyCommand(std::unique_ptr<Command> command)
: m_supplier([command = std::move(command)] { return command.get(); }) {}
void ProxyCommand::Initialize() {
m_command = m_supplier();
m_command->Schedule();
}
void ProxyCommand::End(bool interrupted) {
if (interrupted) {
m_command->Cancel();
}
m_command = nullptr;
}
void ProxyCommand::Execute() {}
bool ProxyCommand::IsFinished() {
// because we're between `initialize` and `end`, `m_command` is necessarily
// not null but if called otherwise and m_command is null, it's UB, so we can
// do whatever we want -- like return true.
return m_command == nullptr || !m_command->IsScheduled();
}

7
wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp
View File

@@ -15,13 +15,6 @@ ProxyScheduleCommand::ProxyScheduleCommand(Command* toSchedule) {
SetInsert(m_toSchedule, {&toSchedule, 1});
}
ProxyScheduleCommand::ProxyScheduleCommand(
std::unique_ptr<Command>&& toSchedule)
: m_owning(std::move(toSchedule)) {
Command* ptr = m_owning.get();
SetInsert(m_toSchedule, {&ptr, 1});
}
void ProxyScheduleCommand::Initialize() {
for (auto* command : m_toSchedule) {
command->Schedule();