mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
// 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 "wpi/commands2/DeferredCommand.hpp"
|
|
|
|
#include <utility>
|
|
|
|
#include "wpi/commands2/Commands.hpp"
|
|
#include "wpi/util/sendable/SendableBuilder.hpp"
|
|
|
|
using namespace wpi::cmd;
|
|
|
|
DeferredCommand::DeferredCommand(
|
|
wpi::util::unique_function<CommandPtr()> supplier,
|
|
Requirements requirements)
|
|
: m_supplier{std::move(supplier)} {
|
|
AddRequirements(requirements);
|
|
}
|
|
|
|
void DeferredCommand::Initialize() {
|
|
m_command = m_supplier().Unwrap();
|
|
CommandScheduler::GetInstance().RequireUngrouped(m_command.get());
|
|
m_command->SetComposed(true);
|
|
m_command->Initialize();
|
|
}
|
|
|
|
void DeferredCommand::Execute() {
|
|
m_command->Execute();
|
|
}
|
|
|
|
void DeferredCommand::End(bool interrupted) {
|
|
m_command->End(interrupted);
|
|
m_command =
|
|
cmd::Print("[DeferredCommand] Lifecycle function called out-of-order!")
|
|
.WithName("none")
|
|
.Unwrap();
|
|
}
|
|
|
|
bool DeferredCommand::IsFinished() {
|
|
return m_command->IsFinished();
|
|
}
|
|
|
|
void DeferredCommand::InitSendable(wpi::util::SendableBuilder& builder) {
|
|
Command::InitSendable(builder);
|
|
builder.AddStringProperty(
|
|
"deferred", [this] { return m_command->GetName(); }, nullptr);
|
|
}
|