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commandsv2/src/main/native/include/frc2/command/ConditionalCommand.h

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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.
+
+#pragma once
+
+#include <concepts>
+#include <functional>
+#include <memory>
+#include <utility>
+
+#include "frc2/command/Command.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command composition that runs one of two commands, depending on the value
+ * of the given condition when this command is initialized.
+ *
+ * <p>The rules for command compositions apply: command instances that are
+ * passed to it are owned by the composition and cannot be added to any other
+ * composition or scheduled individually, and the composition requires all
+ * subsystems its components require.
+ *
+ * This class is provided by the NewCommands VendorDep
+ *
+ * @see ScheduleCommand
+ */
+class ConditionalCommand : public CommandHelper<Command, ConditionalCommand> {
+ public:
+  /**
+   * Creates a new ConditionalCommand.
+   *
+   * @param onTrue    the command to run if the condition is true
+   * @param onFalse   the command to run if the condition is false
+   * @param condition the condition to determine which command to run
+   */
+  template <std::derived_from<Command> Command1,
+            std::derived_from<Command> Command2>
+  ConditionalCommand(Command1&& onTrue, Command2&& onFalse,
+                     std::function<bool()> condition)
+      : ConditionalCommand(std::make_unique<std::decay_t<Command1>>(
+                               std::forward<Command1>(onTrue)),
+                           std::make_unique<std::decay_t<Command2>>(
+                               std::forward<Command2>(onFalse)),
+                           condition) {}
+
+  /**
+   * Creates a new ConditionalCommand.
+   *
+   * @param onTrue    the command to run if the condition is true
+   * @param onFalse   the command to run if the condition is false
+   * @param condition the condition to determine which command to run
+   */
+  ConditionalCommand(std::unique_ptr<Command>&& onTrue,
+                     std::unique_ptr<Command>&& onFalse,
+                     std::function<bool()> condition);
+
+  ConditionalCommand(ConditionalCommand&& other) = default;
+
+  // No copy constructors for command groups
+  ConditionalCommand(const ConditionalCommand& other) = delete;
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+  bool RunsWhenDisabled() const override;
+
+  InterruptionBehavior GetInterruptionBehavior() const override;
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  std::unique_ptr<Command> m_onTrue;
+  std::unique_ptr<Command> m_onFalse;
+  std::function<bool()> m_condition;
+  Command* m_selectedCommand{nullptr};
+  bool m_runsWhenDisabled = true;
+};
+}  // namespace frc2