[commands] Enhance Command Sendable implementations (#4822)

2026-06-20 00:51:42 +00:00 · 2022-12-16 04:28:52 +02:00
parent 7713f68772
commit fbabd0ef15
33 changed files with 239 additions and 17 deletions
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
@@ -64,4 +64,21 @@ void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
          Cancel();
        }
      });
+  builder.AddBooleanProperty(
+      ".isParented", [this] { return IsComposed(); }, nullptr);
+  builder.AddStringProperty(
+      "interruptBehavior",
+      [this] {
+        switch (GetInterruptionBehavior()) {
+          case Command::InterruptionBehavior::kCancelIncoming:
+            return "kCancelIncoming";
+          case Command::InterruptionBehavior::kCancelSelf:
+            return "kCancelSelf";
+          default:
+            return "Invalid";
+        }
+      },
+      nullptr);
+  builder.AddBooleanProperty(
+      "runsWhenDisabled", [this] { return RunsWhenDisabled(); }, nullptr);
 }