diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java index 0420301ead..86ba4d7858 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java @@ -252,11 +252,29 @@ public interface Command { * decorated without issue. * * @return the decorated command + * @deprecated use {@link #endlessly()} instead. */ + @Deprecated(forRemoval = true, since = "2023") default PerpetualCommand perpetually() { return new PerpetualCommand(this); } + /** + * Decorates this command to run endlessly, ignoring its ordinary end conditions. The decorated + * command can still be interrupted or canceled. + * + *

Note: This decorator works by composing this command within a CommandGroup. The command + * cannot be used independently after being decorated, or be re-decorated with a different + * decorator, unless it is manually cleared from the list of grouped commands with {@link + * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further + * decorated without issue. + * + * @return the decorated command + */ + default EndlessCommand endlessly() { + return new EndlessCommand(this); + } + /** * Decorates this command to run repeatedly, restarting it when it ends, until this command is * interrupted. The decorated command can still be canceled. diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/EndlessCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/EndlessCommand.java new file mode 100644 index 0000000000..3f2e3ffb00 --- /dev/null +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/EndlessCommand.java @@ -0,0 +1,60 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj2.command; + +import static edu.wpi.first.wpilibj2.command.CommandGroupBase.registerGroupedCommands; +import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped; + +/** + * A command that runs another command endlessly, ignoring that command's end conditions. While this + * class does not extend {@link CommandGroupBase}, it is still considered a CommandGroup, as it + * allows one to compose another command within it; the command instances that are passed to it + * cannot be added to any other groups, or scheduled individually. + * + *

As a rule, CommandGroups require the union of the requirements of their component commands. + * + *

This class is provided by the NewCommands VendorDep + */ +public class EndlessCommand extends CommandBase { + protected final Command m_command; + + /** + * Creates a new EndlessCommand. Will run another command endlessly, ignoring that command's end + * conditions, unless this command itself is interrupted. + * + * @param command the command to run endlessly + */ + public EndlessCommand(Command command) { + requireUngrouped(command); + registerGroupedCommands(command); + m_command = command; + m_requirements.addAll(command.getRequirements()); + } + + @Override + public void initialize() { + m_command.initialize(); + } + + @Override + public void execute() { + m_command.execute(); + } + + @Override + public void end(boolean interrupted) { + m_command.end(interrupted); + } + + @Override + public boolean runsWhenDisabled() { + return m_command.runsWhenDisabled(); + } + + @Override + public EndlessCommand endlessly() { + return this; + } +} diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java index 7113be674b..4ecda74876 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java @@ -16,7 +16,10 @@ import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped; *

As a rule, CommandGroups require the union of the requirements of their component commands. * *

This class is provided by the NewCommands VendorDep + * + * @deprecated Replaced by {@link EndlessCommand}. */ +@Deprecated(forRemoval = true, since = "2023") public class PerpetualCommand extends CommandBase { protected final Command m_command; diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp index 93510513d0..04d315222d 100644 --- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp +++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp @@ -5,6 +5,7 @@ #include "frc2/command/Command.h" #include "frc2/command/CommandScheduler.h" +#include "frc2/command/EndlessCommand.h" #include "frc2/command/InstantCommand.h" #include "frc2/command/ParallelCommandGroup.h" #include "frc2/command/ParallelDeadlineGroup.h" @@ -88,6 +89,10 @@ PerpetualCommand Command::Perpetually() && { return PerpetualCommand(std::move(*this).TransferOwnership()); } +EndlessCommand Command::Endlessly() && { + return EndlessCommand(std::move(*this).TransferOwnership()); +} + RepeatCommand Command::Repeat() && { return RepeatCommand(std::move(*this).TransferOwnership()); } diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/EndlessCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/EndlessCommand.cpp new file mode 100644 index 0000000000..a7d28c9e6c --- /dev/null +++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/EndlessCommand.cpp @@ -0,0 +1,32 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "frc2/command/EndlessCommand.h" + +using namespace frc2; + +EndlessCommand::EndlessCommand(std::unique_ptr&& command) { + if (!CommandGroupBase::RequireUngrouped(*command)) { + return; + } + m_command = std::move(command); + m_command->SetGrouped(true); + AddRequirements(m_command->GetRequirements()); +} + +void EndlessCommand::Initialize() { + m_command->Initialize(); +} + +void EndlessCommand::Execute() { + m_command->Execute(); +} + +void EndlessCommand::End(bool interrupted) { + m_command->End(interrupted); +} + +EndlessCommand EndlessCommand::Endlessly() && { + return std::move(*this); +} diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h index bfbe516181..3954fc013c 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h @@ -23,6 +23,7 @@ std::string GetTypeName(const T& type) { return wpi::Demangle(typeid(type).name()); } +class EndlessCommand; class ParallelCommandGroup; class ParallelRaceGroup; class ParallelDeadlineGroup; @@ -183,9 +184,19 @@ class Command { * conditions. The decorated command can still be interrupted or canceled. * * @return the decorated command + * @deprecated replace with EndlessCommand */ + WPI_DEPRECATED("Replace with Endlessly()") virtual PerpetualCommand Perpetually() &&; + /** + * Decorates this command to run endlessly, ignoring its ordinary end + * conditions. The decorated command can still be interrupted or canceled. + * + * @return the decorated command + */ + virtual EndlessCommand Endlessly() &&; + /** * Decorates this command to run repeatedly, restarting it when it ends, until * this command is interrupted. The decorated command can still be canceled. diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/EndlessCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/EndlessCommand.h new file mode 100644 index 0000000000..6de039f85b --- /dev/null +++ b/wpilibNewCommands/src/main/native/include/frc2/command/EndlessCommand.h @@ -0,0 +1,79 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#ifdef _WIN32 +#pragma warning(push) +#pragma warning(disable : 4521) +#endif + +#include +#include + +#include "frc2/command/CommandBase.h" +#include "frc2/command/CommandGroupBase.h" +#include "frc2/command/CommandHelper.h" + +namespace frc2 { +/** + * A command that runs another command endlessly, ignoring that command's + * end conditions. While this class does not extend {@link CommandGroupBase}, + * it is still considered a CommandGroup, as it allows one to compose another + * command within it; the command instances that are passed to it cannot be + * added to any other groups, or scheduled individually. + * + *

As a rule, CommandGroups require the union of the requirements of their + * component commands. + * + * This class is provided by the NewCommands VendorDep + */ +class EndlessCommand : public CommandHelper { + public: + /** + * Creates a new EndlessCommand. Will run another command endlessly, + * ignoring that command's end conditions, unless this command itself is + * interrupted. + * + * @param command the command to run endlessly + */ + explicit EndlessCommand(std::unique_ptr&& command); + + /** + * Creates a new EndlessCommand. Will run another command endlessly, + * ignoring that command's end conditions, unless this command itself is + * interrupted. + * + * @param command the command to run endlessly + */ + template >>> + explicit EndlessCommand(T&& command) + : EndlessCommand(std::make_unique>( + std::forward(command))) {} + + EndlessCommand(EndlessCommand&& other) = default; + + // No copy constructors for command groups + EndlessCommand(const EndlessCommand& other) = delete; + + // Prevent template expansion from emulating copy ctor + EndlessCommand(EndlessCommand&) = delete; + + void Initialize() override; + + void Execute() override; + + void End(bool interrupted) override; + + EndlessCommand Endlessly() && override; + + private: + std::unique_ptr m_command; +}; +} // namespace frc2 + +#ifdef _WIN32 +#pragma warning(pop) +#endif diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h index 4818cdab1f..208a8755cf 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h @@ -28,8 +28,11 @@ namespace frc2 { * component commands. * * This class is provided by the NewCommands VendorDep + * + * @deprecated replace with EndlessCommand */ -class PerpetualCommand : public CommandHelper { +class WPI_DEPRECATED("Replace with EndlessCommand") PerpetualCommand + : public CommandHelper { public: /** * Creates a new PerpetualCommand. Will run another command in perpetuity,