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Added a conditional command that chooses 1 of 2 commands (#435)

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Tests and documentation for ConditionalCommand were also added. This is a fixed version of #9, so it doesn't support lambdas.

Closes #9
This commit is contained in:
Tyler Veness
2017-01-04 23:48:13 -08:00
committed by Peter Johnson
parent 1fc375b31a
commit 7a049c29bd
12 changed files with 587 additions and 1 deletions
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84
wpilibc/shared/src/Commands/ConditionalCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Commands/ConditionalCommand.h"
#include "Commands/Scheduler.h"
using namespace frc;
/**
* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
*
* @param onTrue The Command to execute if {@link
* ConditionalCommand#Condition()} returns true
* @param onFalse The Command to execute if {@link
* ConditionalCommand#Condition()} returns false
*/
ConditionalCommand::ConditionalCommand(Command* onTrue, Command* onFalse) {
m_onTrue = onTrue;
m_onFalse = onFalse;
for (auto requirement : m_onTrue->GetRequirements()) Requires(requirement);
for (auto requirement : m_onFalse->GetRequirements()) Requires(requirement);
}
/**
* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
*
* @param name the name for this command group
* @param onTrue The Command to execute if {@link
* ConditionalCommand#Condition()} returns true
* @param onFalse The Command to execute if {@link
* ConditionalCommand#Condition()} returns false
*/
ConditionalCommand::ConditionalCommand(const std::string& name, Command* onTrue,
Command* onFalse)
: Command(name) {
m_onTrue = onTrue;
m_onFalse = onFalse;
for (auto requirement : m_onTrue->GetRequirements()) Requires(requirement);
for (auto requirement : m_onFalse->GetRequirements()) Requires(requirement);
}
void ConditionalCommand::_Initialize() {
if (Condition()) {
m_chosenCommand = m_onTrue;
} else {
m_chosenCommand = m_onFalse;
}
/*
* This is a hack to make cancelling the chosen command inside a CommandGroup
* work properly
*/
m_chosenCommand->ClearRequirements();
m_chosenCommand->Start();
}
void ConditionalCommand::_Cancel() {
if (m_chosenCommand != nullptr && m_chosenCommand->IsRunning()) {
m_chosenCommand->Cancel();
}
Command::_Cancel();
}
bool ConditionalCommand::IsFinished() {
return m_chosenCommand != nullptr && m_chosenCommand->IsRunning() &&
m_chosenCommand->IsFinished();
}
void ConditionalCommand::Interrupted() {
if (m_chosenCommand != nullptr && m_chosenCommand->IsRunning()) {
m_chosenCommand->Cancel();
}
Command::Interrupted();
}