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commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp

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+// 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.
+
+#pragma once
+
+#include <memory>
+
+#include <wpi/FunctionExtras.h>
+
+#include "frc2/command/Command.h"
+#include "frc2/command/CommandHelper.h"
+#include "frc2/command/Requirements.h"
+
+namespace frc2 {
+/**
+ * Defers Command construction to runtime. Runs the command returned by a
+ * supplier when this command is initialized, and ends when it ends. Useful for
+ * performing runtime tasks before creating a new command. If this command is
+ * interrupted, it will cancel the command.
+ *
+ * Note that the supplier <i>must</i> create a new Command each call. For
+ * selecting one of a preallocated set of commands, use SelectCommand.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+class DeferredCommand : public CommandHelper<Command, DeferredCommand> {
+ public:
+  /**
+   * Creates a new DeferredCommand that directly runs the supplied command when
+   * initialized, and ends when it ends. Useful for lazily creating commands
+   * when the DeferredCommand is initialized, such as if the supplied command
+   * depends on runtime state. The supplier will be called each time this
+   * command is initialized. The supplier <i>must</i> create a new Command each
+   * call.
+   *
+   * @param supplier The command supplier
+   * @param requirements The command requirements.
+   *
+   */
+  DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
+                  Requirements requirements);
+
+  DeferredCommand(DeferredCommand&& other) = default;
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  wpi::unique_function<CommandPtr()> m_supplier;
+  std::unique_ptr<Command> m_command;
+};
+}  // namespace frc2