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commandsv2/src/main/java/org/wpilib/command2/ConditionalCommand.java

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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.
+
+package edu.wpi.first.wpilibj2.command;
+
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.util.sendable.SendableBuilder;
+import java.util.function.BooleanSupplier;
+
+/**
+ * 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 cannot be
+ * added to any other composition or scheduled individually, and the composition requires all
+ * subsystems its components require.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+public class ConditionalCommand extends Command {
+  private final Command m_onTrue;
+  private final Command m_onFalse;
+  private final BooleanSupplier m_condition;
+  private Command m_selectedCommand;
+
+  /**
+   * 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
+   */
+  @SuppressWarnings("this-escape")
+  public ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition) {
+    m_onTrue = requireNonNullParam(onTrue, "onTrue", "ConditionalCommand");
+    m_onFalse = requireNonNullParam(onFalse, "onFalse", "ConditionalCommand");
+    m_condition = requireNonNullParam(condition, "condition", "ConditionalCommand");
+
+    CommandScheduler.getInstance().registerComposedCommands(onTrue, onFalse);
+
+    addRequirements(m_onTrue.getRequirements());
+    addRequirements(m_onFalse.getRequirements());
+  }
+
+  @Override
+  public void initialize() {
+    if (m_condition.getAsBoolean()) {
+      m_selectedCommand = m_onTrue;
+    } else {
+      m_selectedCommand = m_onFalse;
+    }
+    m_selectedCommand.initialize();
+  }
+
+  @Override
+  public void execute() {
+    m_selectedCommand.execute();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    m_selectedCommand.end(interrupted);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return m_selectedCommand.isFinished();
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return m_onTrue.runsWhenDisabled() && m_onFalse.runsWhenDisabled();
+  }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    if (m_onTrue.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf
+        || m_onFalse.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+      return InterruptionBehavior.kCancelSelf;
+    } else {
+      return InterruptionBehavior.kCancelIncoming;
+    }
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty("onTrue", m_onTrue::getName, null);
+    builder.addStringProperty("onFalse", m_onFalse::getName, null);
+    builder.addStringProperty(
+        "selected",
+        () -> {
+          if (m_selectedCommand == null) {
+            return "null";
+          } else {
+            return m_selectedCommand.getName();
+          }
+        },
+        null);
+  }
+}