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[commands] Add onlyWhile and onlyIf (#5291)

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This commit is contained in:
Joseph Eng
2023-04-30 14:09:02 -07:00
committed by GitHub
parent 40ca094686
commit ee3b4621e5
7 changed files with 183 additions and 3 deletions
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22
wpilibNewCommands/src/main/native/include/frc2/command/Command.h
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@@ -137,6 +137,17 @@ class Command {
*/
[[nodiscard]] CommandPtr Until(std::function<bool()> condition) &&;
/**
* Decorates this command with a run condition. If the specified condition
* becomes false before the command finishes normally, the command will be
* interrupted and un-scheduled. Note that this only applies to the command
* returned by this method; the calling command is not itself changed.
*
* @param condition the interrupt condition
* @return the command with the interrupt condition added
*/
[[nodiscard]] CommandPtr OnlyWhile(std::function<bool()> condition) &&;
/**
* Decorates this command with an interrupt condition. If the specified
* condition becomes true before the command finishes normally, the command
@@ -245,6 +256,17 @@ safe) semantics.
*/
[[nodiscard]] CommandPtr Unless(std::function<bool()> condition) &&;
/**
* Decorates this command to only run if this condition is met. If the command
* is already running and the condition changes to false, the command will not
* stop running. The requirements of this command will be kept for the new
* conditional command.
*
* @param condition the condition that will allow the command to run
* @return the decorated command
*/
[[nodiscard]] CommandPtr OnlyIf(std::function<bool()> condition) &&;
/**
* Decorates this command to run or stop when disabled.
*