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Fix cancel of inner commands in ConditionalCommands (#858)

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This commit is contained in:
sciencewhiz
2018-01-18 20:04:33 -08:00
committed by Peter Johnson
parent 0e8ff4663d
commit e4e1eab413
15 changed files with 901 additions and 30 deletions
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14
wpilibc/src/main/native/cpp/Commands/ConditionalCommand.cpp
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@@ -7,6 +7,8 @@
#include "Commands/ConditionalCommand.h"
#include <iostream>
#include "Commands/Scheduler.h"
using namespace frc;
@@ -65,6 +67,7 @@ void ConditionalCommand::_Initialize() {
m_chosenCommand->Start();
}
Command::_Initialize();
}
void ConditionalCommand::_Cancel() {
@@ -76,14 +79,17 @@ void ConditionalCommand::_Cancel() {
}
bool ConditionalCommand::IsFinished() {
return m_chosenCommand != nullptr && m_chosenCommand->IsRunning() &&
m_chosenCommand->IsFinished();
if (m_chosenCommand != nullptr) {
return m_chosenCommand->IsCompleted();
} else {
return true;
}
}
void ConditionalCommand::Interrupted() {
void ConditionalCommand::_Interrupted() {
if (m_chosenCommand != nullptr && m_chosenCommand->IsRunning()) {
m_chosenCommand->Cancel();
}
Command::Interrupted();
Command::_Interrupted();
}