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commandsv2/src/main/java/org/wpilib/command2/SelectCommand.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.Map;
+import java.util.function.Supplier;
+
+/**
+ * A command composition that runs one of a selection of commands using a selector and a key to
+ * command mapping.
+ *
+ * <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
+ *
+ * @param <K> The type of key used to select the command
+ */
+public class SelectCommand<K> extends Command {
+  private final Map<K, Command> m_commands;
+  private final Supplier<? extends K> m_selector;
+  private Command m_selectedCommand;
+  private boolean m_runsWhenDisabled = true;
+  private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
+
+  private final Command m_defaultCommand =
+      new PrintCommand("SelectCommand selector value does not correspond to any command!");
+
+  /**
+   * Creates a new SelectCommand.
+   *
+   * @param commands the map of commands to choose from
+   * @param selector the selector to determine which command to run
+   */
+  @SuppressWarnings("this-escape")
+  public SelectCommand(Map<K, Command> commands, Supplier<? extends K> selector) {
+    m_commands = requireNonNullParam(commands, "commands", "SelectCommand");
+    m_selector = requireNonNullParam(selector, "selector", "SelectCommand");
+
+    CommandScheduler.getInstance().registerComposedCommands(m_defaultCommand);
+    CommandScheduler.getInstance()
+        .registerComposedCommands(commands.values().toArray(new Command[] {}));
+
+    for (Command command : m_commands.values()) {
+      addRequirements(command.getRequirements());
+      m_runsWhenDisabled &= command.runsWhenDisabled();
+      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
+      }
+    }
+  }
+
+  @Override
+  public void initialize() {
+    m_selectedCommand = m_commands.getOrDefault(m_selector.get(), m_defaultCommand);
+    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_runsWhenDisabled;
+  }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    return m_interruptBehavior;
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addStringProperty(
+        "selected", () -> m_selectedCommand == null ? "null" : m_selectedCommand.getName(), null);
+  }
+}