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commandsv3/src/main/java/org/wpilib/command3/SequentialGroup.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 org.wpilib.commands3;
+
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
+
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
+
+/**
+ * A sequence of commands that run one after another. Each successive command only starts after its
+ * predecessor completes execution. The priority of a sequence is equal to the highest priority of
+ * any of its commands. If all commands in the sequence are able to run while the robot is disabled,
+ * then the sequence itself will be allowed to run while the robot is disabled.
+ *
+ * <p>The sequence will <i>own</i> all mechanisms required by all commands in the sequence for the
+ * entire duration of the sequence. This means that a mechanism owned by one command in the
+ * sequence, but not by a later one, will be <i>uncommanded</i> while that later command executes.
+ */
+public final class SequentialGroup implements Command {
+  private final String m_name;
+  private final List<Command> m_commands = new ArrayList<>();
+  private final Set<Mechanism> m_requirements = new HashSet<>();
+  private final int m_priority;
+
+  /**
+   * Creates a new command sequence.
+   *
+   * @param name the name of the sequence
+   * @param commands the commands to execute within the sequence
+   */
+  SequentialGroup(String name, List<Command> commands) {
+    requireNonNullParam(name, "name", "SequentialGroup");
+    requireNonNullParam(commands, "commands", "SequentialGroup");
+    for (int i = 0; i < commands.size(); i++) {
+      requireNonNullParam(commands.get(i), "commands[" + i + "]", "SequentialGroup");
+    }
+
+    m_name = name;
+    m_commands.addAll(commands);
+
+    for (var command : commands) {
+      m_requirements.addAll(command.requirements());
+    }
+
+    m_priority =
+        commands.stream().mapToInt(Command::priority).max().orElse(Command.DEFAULT_PRIORITY);
+  }
+
+  @Override
+  public void run(Coroutine coroutine) {
+    for (var command : m_commands) {
+      coroutine.await(command);
+    }
+  }
+
+  @Override
+  public String name() {
+    return m_name;
+  }
+
+  @Override
+  public Set<Mechanism> requirements() {
+    return m_requirements;
+  }
+
+  @Override
+  public int priority() {
+    return m_priority;
+  }
+
+  @Override
+  public String toString() {
+    return "SequentialGroup[name=" + m_name + "]";
+  }
+}