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[commands] Revamp Interruptible (#4192)

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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
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56
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
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@@ -83,60 +83,27 @@ class CommandScheduler final : public nt::NTSendable,
void ClearButtons();
/**
* Schedules a command for execution. Does nothing if the command is already
* Schedules a command for execution. Does nothing if the command is already
* scheduled. If a command's requirements are not available, it will only be
* started if all the commands currently using those requirements have been
* scheduled as interruptible. If this is the case, they will be interrupted
* scheduled as interruptible. If this is the case, they will be interrupted
* and the command will be scheduled.
*
* @param interruptible whether this command can be interrupted
* @param command the command to schedule
*/
void Schedule(bool interruptible, Command* command);
/**
* Schedules a command for execution, with interruptible defaulted to true.
* Does nothing if the command is already scheduled.
*
* @param command the command to schedule
*/
void Schedule(Command* command);
/**
* Schedules multiple commands for execution. Does nothing if the command is
* already scheduled. If a command's requirements are not available, it will
* only be started if all the commands currently using those requirements have
* been scheduled as interruptible. If this is the case, they will be
* interrupted and the command will be scheduled.
*
* @param interruptible whether the commands should be interruptible
* @param commands the commands to schedule
*/
void Schedule(bool interruptible, wpi::span<Command* const> commands);
/**
* Schedules multiple commands for execution. Does nothing if the command is
* already scheduled. If a command's requirements are not available, it will
* only be started if all the commands currently using those requirements have
* been scheduled as interruptible. If this is the case, they will be
* interrupted and the command will be scheduled.
*
* @param interruptible whether the commands should be interruptible
* @param commands the commands to schedule
*/
void Schedule(bool interruptible, std::initializer_list<Command*> commands);
/**
* Schedules multiple commands for execution, with interruptible defaulted to
* true. Does nothing if the command is already scheduled.
* Schedules multiple commands for execution. Does nothing for commands
* already scheduled.
*
* @param commands the commands to schedule
*/
void Schedule(wpi::span<Command* const> commands);
/**
* Schedules multiple commands for execution, with interruptible defaulted to
* true. Does nothing if the command is already scheduled.
* Schedules multiple commands for execution. Does nothing for commands
* already scheduled.
*
* @param commands the commands to schedule
*/
@@ -262,17 +229,6 @@ class CommandScheduler final : public nt::NTSendable,
*/
void CancelAll();
/**
* Returns the time since a given command was scheduled. Note that this only
* works on commands that are directly scheduled by the scheduler; it will not
* work on commands inside of commandgroups, as the scheduler does not see
* them.
*
* @param command the command to query
* @return the time since the command was scheduled
*/
units::second_t TimeSinceScheduled(const Command* command) const;
/**
* Whether the given commands are running. Note that this only works on
* commands that are directly scheduled by the scheduler; it will not work on