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commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp

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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.
+
+#include "frc2/command/ProxyCommand.h"
+
+#include <string>
+#include <utility>
+
+#include <fmt/format.h>
+#include <wpi/deprecated.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+using namespace frc2;
+
+WPI_IGNORE_DEPRECATED
+ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
+    : m_supplier(std::move(supplier)) {}
+
+ProxyCommand::ProxyCommand(wpi::unique_function<CommandPtr()> supplier)
+    : ProxyCommand([supplier = std::move(supplier),
+                    holder = std::optional<CommandPtr>{}]() mutable {
+        holder = supplier();
+        return holder->get();
+      }) {}
+WPI_UNIGNORE_DEPRECATED
+
+ProxyCommand::ProxyCommand(Command* command)
+    : m_supplier([command] { return command; }) {
+  SetName(fmt::format("Proxy({})", command->GetName()));
+}
+
+ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {
+  SetName(fmt::format("Proxy({})", command->GetName()));
+  m_supplier = [command = std::move(command)] { return command.get(); };
+}
+
+void ProxyCommand::Initialize() {
+  m_command = m_supplier();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
+}
+
+void ProxyCommand::End(bool interrupted) {
+  if (interrupted) {
+    m_command->Cancel();
+  }
+  m_command = nullptr;
+}
+
+bool ProxyCommand::IsFinished() {
+  // because we're between `initialize` and `end`, `m_command` is necessarily
+  // not null but if called otherwise and m_command is null, it's UB, so we can
+  // do whatever we want -- like return true.
+  return m_command == nullptr || !m_command->IsScheduled();
+}
+
+void ProxyCommand::InitSendable(wpi::SendableBuilder& builder) {
+  Command::InitSendable(builder);
+  builder.AddStringProperty(
+      "proxied",
+      [this] {
+        if (m_command) {
+          return m_command->GetName();
+        } else {
+          return std::string{"null"};
+        }
+      },
+      nullptr);
+}