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commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.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
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4521)
+#endif
+
+#include <concepts>
+#include <memory>
+#include <utility>
+
+#include "frc2/command/Command.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that runs another command repeatedly, restarting it when it ends,
+ * until this command is interrupted. Command instances that are passed to it
+ * cannot be added to any other groups, or scheduled individually.
+ *
+ * <p>The rules for command compositions apply: command instances that are
+ * passed to it are owned by the composition and cannot be added to any other
+ * composition or scheduled individually, and the composition requires all
+ * subsystems its components require.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+class RepeatCommand : public CommandHelper<Command, RepeatCommand> {
+ public:
+  /**
+   * Creates a new RepeatCommand. Will run another command repeatedly,
+   * restarting it whenever it ends, until this command is interrupted.
+   *
+   * @param command the command to run repeatedly
+   */
+  explicit RepeatCommand(std::unique_ptr<Command>&& command);
+
+  /**
+   * Creates a new RepeatCommand. Will run another command repeatedly,
+   * restarting it whenever it ends, until this command is interrupted.
+   *
+   * @param command the command to run repeatedly
+   */
+  template <std::derived_from<Command> T>
+  // NOLINTNEXTLINE(bugprone-forwarding-reference-overload)
+  explicit RepeatCommand(T&& command)
+      : RepeatCommand(
+            std::make_unique<std::decay_t<T>>(std::forward<T>(command))) {}
+
+  RepeatCommand(RepeatCommand&& other) = default;
+
+  // No copy constructors for command groups
+  RepeatCommand(const RepeatCommand& other) = delete;
+
+  // Prevent template expansion from emulating copy ctor
+  RepeatCommand(RepeatCommand&) = delete;
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  bool IsFinished() override;
+
+  void End(bool interrupted) override;
+
+  bool RunsWhenDisabled() const override;
+
+  Command::InterruptionBehavior GetInterruptionBehavior() const override;
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  std::unique_ptr<Command> m_command;
+  bool m_ended;
+};
+}  // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif