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[commands] Add DeferredCommand (#5566)

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Allows commands to be constructed at runtime without proxying.
This commit is contained in:
Ryan Blue
2023-10-26 22:16:33 -04:00
committed by GitHub
parent ad80eb3a0b
commit c87f8fd538
11 changed files with 405 additions and 0 deletions
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6
wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
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@@ -5,6 +5,7 @@
#include "frc2/command/Commands.h"
#include "frc2/command/ConditionalCommand.h"
#include "frc2/command/DeferredCommand.h"
#include "frc2/command/FunctionalCommand.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/ParallelCommandGroup.h"
@@ -82,6 +83,11 @@ CommandPtr cmd::Either(CommandPtr&& onTrue, CommandPtr&& onFalse,
.ToPtr();
}
CommandPtr cmd::Defer(wpi::unique_function<CommandPtr()> supplier,
Requirements requirements) {
return DeferredCommand(std::move(supplier), requirements).ToPtr();
}
CommandPtr cmd::Sequence(std::vector<CommandPtr>&& commands) {
return SequentialCommandGroup(CommandPtr::UnwrapVector(std::move(commands)))
.ToPtr();