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commandsv2/src/main/java/org/wpilib/command2/SequentialCommandGroup.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 edu.wpi.first.util.sendable.SendableBuilder;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * A command composition that runs a list of commands in sequence.
+ *
+ * <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 SequentialCommandGroup extends Command {
+  private final List<Command> m_commands = new ArrayList<>();
+  private int m_currentCommandIndex = -1;
+  private boolean m_runWhenDisabled = true;
+  private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
+
+  /**
+   * Creates a new SequentialCommandGroup. The given commands will be run sequentially, with the
+   * composition finishing when the last command finishes.
+   *
+   * @param commands the commands to include in this composition.
+   */
+  @SuppressWarnings("this-escape")
+  public SequentialCommandGroup(Command... commands) {
+    addCommands(commands);
+  }
+
+  /**
+   * Adds the given commands to the group.
+   *
+   * @param commands Commands to add, in order of execution.
+   */
+  @SuppressWarnings("PMD.UseArraysAsList")
+  public final void addCommands(Command... commands) {
+    if (m_currentCommandIndex != -1) {
+      throw new IllegalStateException(
+          "Commands cannot be added to a composition while it's running");
+    }
+
+    CommandScheduler.getInstance().registerComposedCommands(commands);
+
+    for (Command command : commands) {
+      m_commands.add(command);
+      addRequirements(command.getRequirements());
+      m_runWhenDisabled &= command.runsWhenDisabled();
+      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
+      }
+    }
+  }
+
+  @Override
+  public final void initialize() {
+    m_currentCommandIndex = 0;
+
+    if (!m_commands.isEmpty()) {
+      m_commands.get(0).initialize();
+    }
+  }
+
+  @Override
+  public final void execute() {
+    if (m_commands.isEmpty()) {
+      return;
+    }
+
+    Command currentCommand = m_commands.get(m_currentCommandIndex);
+
+    currentCommand.execute();
+    if (currentCommand.isFinished()) {
+      currentCommand.end(false);
+      m_currentCommandIndex++;
+      if (m_currentCommandIndex < m_commands.size()) {
+        m_commands.get(m_currentCommandIndex).initialize();
+      }
+    }
+  }
+
+  @Override
+  public final void end(boolean interrupted) {
+    if (interrupted
+        && !m_commands.isEmpty()
+        && m_currentCommandIndex > -1
+        && m_currentCommandIndex < m_commands.size()) {
+      m_commands.get(m_currentCommandIndex).end(true);
+    }
+    m_currentCommandIndex = -1;
+  }
+
+  @Override
+  public final boolean isFinished() {
+    return m_currentCommandIndex == m_commands.size();
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return m_runWhenDisabled;
+  }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    return m_interruptBehavior;
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addIntegerProperty("index", () -> m_currentCommandIndex, null);
+  }
+}