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[commands] Revert "Change grouping decorator impl to flatten nested group structures (#3335)" (#4402)

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This reverts commit ef4ea84cb5.
This commit is contained in:
Starlight220
2022-09-07 19:04:21 +03:00
committed by GitHub
parent 0389bf5214
commit d9b4e7b8bf
16 changed files with 14 additions and 134 deletions
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32
wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
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@@ -4,8 +4,6 @@
#include "frc2/command/SequentialCommandGroup.h"
#include "frc2/command/InstantCommand.h"
using namespace frc2;
SequentialCommandGroup::SequentialCommandGroup(
@@ -74,33 +72,3 @@ void SequentialCommandGroup::AddCommands(
m_commands.emplace_back(std::move(command));
}
}
SequentialCommandGroup SequentialCommandGroup::BeforeStarting(
std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
// store all the commands
std::vector<std::unique_ptr<Command>> tmp;
tmp.emplace_back(
std::make_unique<InstantCommand>(std::move(toRun), requirements));
for (auto&& command : m_commands) {
command->SetGrouped(false);
tmp.emplace_back(std::move(command));
}
// reset current state
m_commands.clear();
m_requirements.clear();
m_runWhenDisabled = true;
// add the commands back
AddCommands(std::move(tmp));
return std::move(*this);
}
SequentialCommandGroup SequentialCommandGroup::AndThen(
std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
std::vector<std::unique_ptr<Command>> tmp;
tmp.emplace_back(
std::make_unique<InstantCommand>(std::move(toRun), requirements));
AddCommands(std::move(tmp));
return std::move(*this);
}