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[commands] Add proxy factory to Commands (#5603)

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This commit is contained in:
Ryan Blue
2023-09-17 23:49:02 -04:00
committed by GitHub
parent 633c5a8a22
commit 9fe258427a
3 changed files with 44 additions and 2 deletions
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9
wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
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@@ -11,6 +11,7 @@
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/PrintCommand.h"
#include "frc2/command/ProxyCommand.h"
#include "frc2/command/RunCommand.h"
#include "frc2/command/SequentialCommandGroup.h"
#include "frc2/command/WaitCommand.h"
@@ -58,6 +59,14 @@ CommandPtr cmd::Print(std::string_view msg) {
return PrintCommand(msg).ToPtr();
}
CommandPtr cmd::DeferredProxy(wpi::unique_function<Command*()> supplier) {
return ProxyCommand(std::move(supplier)).ToPtr();
}
CommandPtr cmd::DeferredProxy(wpi::unique_function<CommandPtr()> supplier) {
return ProxyCommand(std::move(supplier)).ToPtr();
}
CommandPtr cmd::Wait(units::second_t duration) {
return WaitCommand(duration).ToPtr();
}

20
wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
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@@ -142,6 +142,26 @@ CommandPtr Select(std::function<Key()> selector,
return SelectCommand(std::move(selector), std::move(vec)).ToPtr();
}
/**
* Constructs a command that schedules the command returned from the supplier
* when initialized, and ends when it is no longer scheduled. The supplier is
* called when the command is initialized.
*
* @param supplier the command supplier
*/
[[nodiscard]]
CommandPtr DeferredProxy(wpi::unique_function<Command*()> supplier);
/**
* Constructs a command that schedules the command returned from the supplier
* when initialized, and ends when it is no longer scheduled. The supplier is
* called when the command is initialized.
*
* @param supplier the command supplier
*/
[[nodiscard]]
CommandPtr DeferredProxy(wpi::unique_function<CommandPtr()> supplier);
// Command Groups
namespace impl {