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commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.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/RepeatCommand.h"
+
+#include <string>
+#include <utility>
+
+#include <wpi/sendable/SendableBuilder.h>
+
+using namespace frc2;
+
+RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
+  CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(command.get());
+  m_command = std::move(command);
+  m_command->SetComposed(true);
+  AddRequirements(m_command->GetRequirements());
+  SetName(std::string{"Repeat("}.append(m_command->GetName()).append(")"));
+}
+
+void RepeatCommand::Initialize() {
+  m_ended = false;
+  m_command->Initialize();
+}
+
+void RepeatCommand::Execute() {
+  if (m_ended) {
+    m_ended = false;
+    m_command->Initialize();
+  }
+  m_command->Execute();
+  if (m_command->IsFinished()) {
+    // restart command
+    m_command->End(false);
+    m_ended = true;
+  }
+}
+
+bool RepeatCommand::IsFinished() {
+  return false;
+}
+
+void RepeatCommand::End(bool interrupted) {
+  // Make sure we didn't already call end() (which would happen if the command
+  // finished in the last call to our execute())
+  if (!m_ended) {
+    m_command->End(interrupted);
+    m_ended = true;
+  }
+}
+
+bool RepeatCommand::RunsWhenDisabled() const {
+  return m_command->RunsWhenDisabled();
+}
+
+Command::InterruptionBehavior RepeatCommand::GetInterruptionBehavior() const {
+  return m_command->GetInterruptionBehavior();
+}
+
+void RepeatCommand::InitSendable(wpi::SendableBuilder& builder) {
+  Command::InitSendable(builder);
+  builder.AddStringProperty(
+      "command", [this] { return m_command->GetName(); }, nullptr);
+}