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commandsv2/src/main/native/include/frc2/command/ScheduleCommand.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 <span>
+
+#include <wpi/SmallSet.h>
+
+#include "frc2/command/Command.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * Schedules the given commands when this command is initialized. Useful for
+ * forking off from CommandGroups. Note that if run from a composition, the
+ * composition will not know about the status of the scheduled commands, and
+ * will treat this command as finishing instantly.
+ *
+ * This class is provided by the NewCommands VendorDep
+ */
+class ScheduleCommand : public CommandHelper<Command, ScheduleCommand> {
+ public:
+  /**
+   * Creates a new ScheduleCommand that schedules the given commands when
+   * initialized.
+   *
+   * @param toSchedule the commands to schedule
+   */
+  explicit ScheduleCommand(std::span<Command* const> toSchedule);
+
+  explicit ScheduleCommand(Command* toSchedule);
+
+  ScheduleCommand(ScheduleCommand&& other) = default;
+
+  ScheduleCommand(const ScheduleCommand& other) = default;
+
+  void Initialize() override;
+
+  bool IsFinished() override;
+
+  bool RunsWhenDisabled() const override;
+
+ private:
+  wpi::SmallSet<Command*, 4> m_toSchedule;
+};
+}  // namespace frc2