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commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.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 <wpi/deprecated.h>
+
+#include "frc2/command/Command.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * Schedules a given command when this command is initialized and ends when it
+ * ends, but does not directly run it. Use this for including a command in a
+ * composition without adding its requirements, <strong>but only if you know
+ * what you are doing. If you are unsure, see <a
+ * href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">the
+ * WPILib docs</a> for a complete explanation of proxy semantics.</strong> Do
+ * not proxy a command from a subsystem already required by the composition, or
+ * else the composition will cancel itself when the proxy is reached. If this
+ * command is interrupted, it will cancel the command.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
+ public:
+  /**
+   * Creates a new ProxyCommand that schedules the supplied command when
+   * initialized, and ends when it is no longer scheduled. Use this for lazily
+   * creating <strong>proxied</strong> commands at runtime. Proxying should only
+   * be done to escape from composition requirement semantics, so if only
+   * initialization time command construction is needed, use {@link
+   * DeferredCommand} instead.
+   *
+   * @param supplier the command supplier
+   * @deprecated This constructor's similarity to {@link DeferredCommand} is
+   * confusing and opens potential footguns for users who do not fully
+   * understand the semantics and implications of proxying, but who simply want
+   * runtime construction. Users who do know what they are doing and need a
+   * supplier-constructed proxied command should instead defer a proxy command.
+   * @see DeferredCommand
+   */
+  WPI_IGNORE_DEPRECATED
+  [[deprecated("Defer a proxy command instead.")]]
+  explicit ProxyCommand(wpi::unique_function<Command*()> supplier);
+
+  /**
+   * Creates a new ProxyCommand that schedules the supplied command when
+   * initialized, and ends when it is no longer scheduled. Use this for lazily
+   * creating <strong>proxied</strong> commands at runtime. Proxying should only
+   * be done to escape from composition requirement semantics, so if only
+   * initialization time command construction is needed, use {@link
+   * DeferredCommand} instead.
+   *
+   * @param supplier the command supplier
+   * @deprecated This constructor's similarity to {@link DeferredCommand} is
+   * confusing and opens potential footguns for users who do not fully
+   * understand the semantics and implications of proxying, but who simply want
+   * runtime construction. Users who do know what they are doing and need a
+   * supplier-constructed proxied command should instead defer a proxy command.
+   * @see DeferredCommand
+   */
+  [[deprecated("Defer a proxy command instead.")]]
+  explicit ProxyCommand(wpi::unique_function<CommandPtr()> supplier);
+  WPI_UNIGNORE_DEPRECATED
+
+  /**
+   * Creates a new ProxyCommand that schedules the given command when
+   * initialized, and ends when it is no longer scheduled.
+   *
+   * @param command the command to run by proxy
+   */
+  explicit ProxyCommand(Command* command);
+
+  /**
+   * Creates a new ProxyCommand that schedules the given command when
+   * initialized, and ends when it is no longer scheduled.
+   *
+   * <p>Note that this constructor passes ownership of the given command to the
+   * returned ProxyCommand.
+   *
+   * @param command the command to schedule
+   */
+  explicit ProxyCommand(std::unique_ptr<Command> command);
+
+  ProxyCommand(ProxyCommand&& other) = default;
+
+  void Initialize() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  wpi::unique_function<Command*()> m_supplier;
+  Command* m_command = nullptr;
+};
+}  // namespace frc2