Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[commands] Revamp Interruptible (#4192)

Browse Source
This commit is contained in:
Starlight220
2022-08-30 07:53:47 +03:00
committed by GitHub
parent f2a8d38d2a
commit c3a93fb995
26 changed files with 369 additions and 592 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
View File

@@ -67,6 +67,27 @@ std::unique_ptr<Command> Command::IgnoringDisable(bool doesRunWhenDisabled) && {
std::move(*this).TransferOwnership(), doesRunWhenDisabled);
}
std::unique_ptr<Command> Command::WithInterruptBehavior(
InterruptionBehavior interruptBehavior) && {
class InterruptBehaviorCommand
: public CommandHelper<WrapperCommand, InterruptBehaviorCommand> {
public:
InterruptBehaviorCommand(std::unique_ptr<Command>&& command,
InterruptionBehavior interruptBehavior)
: CommandHelper(std::move(command)),
m_interruptBehavior(interruptBehavior) {}
InterruptionBehavior GetInterruptionBehavior() const override {
return m_interruptBehavior;
}
private:
InterruptionBehavior m_interruptBehavior;
};
return std::make_unique<InterruptBehaviorCommand>(
std::move(*this).TransferOwnership(), interruptBehavior);
}
ParallelRaceGroup Command::WithInterrupt(std::function<bool()> condition) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));
@@ -130,8 +151,8 @@ ConditionalCommand Command::Unless(std::function<bool()> condition) && {
std::move(condition));
}
void Command::Schedule(bool interruptible) {
CommandScheduler::GetInstance().Schedule(interruptible, this);
void Command::Schedule() {
CommandScheduler::GetInstance().Schedule(this);
}
void Command::Cancel() {