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[commands] Add FinallyDo and HandleInterrupt decorators (#4412)

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This commit is contained in:
Starlight220
2022-10-11 19:53:27 +03:00
committed by GitHub
parent 1497665f96
commit 89a3d00297
7 changed files with 251 additions and 0 deletions
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19
wpilibNewCommands/src/main/native/include/frc2/command/Command.h
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@@ -261,6 +261,25 @@ class Command {
[[nodiscard]] CommandPtr WithInterruptBehavior(
Command::InterruptionBehavior interruptBehavior) &&;
/**
* Decorates this command with a lambda to call on interrupt or end, following
* the command's inherent Command::End(bool) method.
*
* @param end a lambda accepting a boolean parameter specifying whether the
* command was interrupted.
* @return the decorated command
*/
[[nodiscard]] CommandPtr FinallyDo(std::function<void(bool)> end) &&;
/**
* Decorates this command with a lambda to call on interrupt, following the
* command's inherent Command::End(bool) method.
*
* @param handler a lambda to run when the command is interrupted
* @return the decorated command
*/
[[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;
/**
* Schedules this command.
*/

19
wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
View File

@@ -207,6 +207,25 @@ class CommandPtr final {
*/
[[nodiscard]] CommandPtr RaceWith(CommandPtr&& parallel) &&;
/**
* Decorates this command with a lambda to call on interrupt or end, following
* the command's inherent Command::End(bool) method.
*
* @param end a lambda accepting a boolean parameter specifying whether the
* command was interrupted.
* @return the decorated command
*/
[[nodiscard]] CommandPtr FinallyDo(std::function<void(bool)> end) &&;
/**
* Decorates this command with a lambda to call on interrupt, following the
* command's inherent Command::End(bool) method.
*
* @param handler a lambda to run when the command is interrupted
* @return the decorated command
*/
[[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;
/**
* Get a raw pointer to the held command.
*/