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commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.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 <limits>
+#include <memory>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+#include <wpi/DecayedDerivedFrom.h>
+
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+
+const size_t invalid_index = std::numeric_limits<size_t>::max();
+
+/**
+ * A command composition that runs a list of commands in sequence.
+ *
+ * <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.
+ *
+ * This class is provided by the NewCommands VendorDep
+ */
+class SequentialCommandGroup
+    : public CommandHelper<Command, SequentialCommandGroup> {
+ public:
+  /**
+   * Creates a new SequentialCommandGroup. The given commands will be run
+   * sequentially, with the composition finishing when the last command
+   * finishes.
+   *
+   * @param commands the commands to include in this composition.
+   */
+  explicit SequentialCommandGroup(
+      std::vector<std::unique_ptr<Command>>&& commands);
+
+  /**
+   * Creates a new SequentialCommandGroup. The given commands will be run
+   * sequentially, with the composition finishing when the last command
+   * finishes.
+   *
+   * @param commands the commands to include in this composition.
+   */
+  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  explicit SequentialCommandGroup(Commands&&... commands) {
+    AddCommands(std::forward<Commands>(commands)...);
+  }
+
+  SequentialCommandGroup(SequentialCommandGroup&& other) = default;
+
+  // No copy constructors for command groups
+  SequentialCommandGroup(const SequentialCommandGroup&) = delete;
+
+  // Prevent template expansion from emulating copy ctor
+  SequentialCommandGroup(SequentialCommandGroup&) = delete;
+
+  /**
+   * Adds the given commands to the group.
+   *
+   * @param commands Commands to add, in order of execution.
+   */
+  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  void AddCommands(Commands&&... commands) {
+    std::vector<std::unique_ptr<Command>> foo;
+    ((void)foo.emplace_back(std::make_unique<std::decay_t<Commands>>(
+         std::forward<Commands>(commands))),
+     ...);
+    AddCommands(std::move(foo));
+  }
+
+  void Initialize() final;
+
+  void Execute() final;
+
+  void End(bool interrupted) final;
+
+  bool IsFinished() final;
+
+  bool RunsWhenDisabled() const override;
+
+  Command::InterruptionBehavior GetInterruptionBehavior() const override;
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands);
+
+  wpi::SmallVector<std::unique_ptr<Command>, 4> m_commands;
+  size_t m_currentCommandIndex{invalid_index};
+  bool m_runWhenDisabled{true};
+  Command::InterruptionBehavior m_interruptBehavior{
+      Command::InterruptionBehavior::kCancelIncoming};
+};
+}  // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif