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commandsv2/src/main/native/cpp/frc2/command/WaitCommand.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/WaitCommand.h"
+
+#include <fmt/format.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+using namespace frc2;
+
+WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
+  SetName(fmt::format("{}: {}", GetName(), duration));
+}
+
+void WaitCommand::Initialize() {
+  m_timer.Restart();
+}
+
+void WaitCommand::End(bool interrupted) {
+  m_timer.Stop();
+}
+
+bool WaitCommand::IsFinished() {
+  return m_timer.HasElapsed(m_duration);
+}
+
+bool WaitCommand::RunsWhenDisabled() const {
+  return true;
+}
+
+void WaitCommand::InitSendable(wpi::SendableBuilder& builder) {
+  Command::InitSendable(builder);
+  builder.AddDoubleProperty(
+      "duration", [this] { return m_duration.value(); }, nullptr);
+}