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Add Lambda support to InstantCommand (#1262)

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This commit is contained in:
Matt Soucy
2018-09-12 02:44:22 -04:00
committed by Peter Johnson
parent 59700882f1
commit 8b5dc53cc7
3 changed files with 125 additions and 0 deletions
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26
wpilibc/src/main/native/cpp/commands/InstantCommand.cpp
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@@ -16,4 +16,30 @@ InstantCommand::InstantCommand(Subsystem& subsystem) : Command(subsystem) {}
InstantCommand::InstantCommand(const wpi::Twine& name, Subsystem& subsystem)
: Command(name, subsystem) {}
InstantCommand::InstantCommand(std::function<void()> func) : m_func(func) {}
InstantCommand::InstantCommand(Subsystem& subsystem, std::function<void()> func)
: InstantCommand(subsystem) {
m_func = func;
}
InstantCommand::InstantCommand(const wpi::Twine& name,
std::function<void()> func)
: InstantCommand(name) {
m_func = func;
}
InstantCommand::InstantCommand(const wpi::Twine& name, Subsystem& subsystem,
std::function<void()> func)
: InstantCommand(name, subsystem) {
m_func = func;
}
void InstantCommand::_Initialize() {
Command::_Initialize();
if (m_func) {
m_func();
}
}
bool InstantCommand::IsFinished() { return true; }

38
wpilibc/src/main/native/include/frc/commands/InstantCommand.h
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@@ -7,9 +7,12 @@
#pragma once
#include <functional>
#include <wpi/Twine.h>
#include "frc/commands/Command.h"
#include "frc/commands/Subsystem.h"
namespace frc {
@@ -42,10 +45,45 @@ class InstantCommand : public Command {
*/
InstantCommand(const wpi::Twine& name, Subsystem& subsystem);
/**
* Create a command that calls the given function when run.
*
* @param func The function to run when Initialize() is run.
*/
explicit InstantCommand(std::function<void()> func);
/**
* Create a command that calls the given function when run.
*
* @param subsystem The subsystems that this command runs on.
* @param func The function to run when Initialize() is run.
*/
InstantCommand(Subsystem& subsystem, std::function<void()> func);
/**
* Create a command that calls the given function when run.
*
* @param name The name of the command.
* @param func The function to run when Initialize() is run.
*/
InstantCommand(const wpi::Twine& name, std::function<void()> func);
/**
* Create a command that calls the given function when run.
*
* @param name The name of the command.
* @param subsystem The subsystems that this command runs on.
* @param func The function to run when Initialize() is run.
*/
InstantCommand(const wpi::Twine& name, Subsystem& subsystem,
std::function<void()> func);
InstantCommand() = default;
virtual ~InstantCommand() = default;
protected:
std::function<void()> m_func = nullptr;
void _Initialize() override;
bool IsFinished() override;
};