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49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <span>
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#include <wpi/SmallSet.h>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandHelper.h"
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namespace frc2 {
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/**
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* Schedules the given commands when this command is initialized. Useful for
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* forking off from CommandGroups. Note that if run from a composition, the
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* composition will not know about the status of the scheduled commands, and
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* will treat this command as finishing instantly.
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*
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* This class is provided by the NewCommands VendorDep
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*/
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class ScheduleCommand : public CommandHelper<Command, ScheduleCommand> {
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public:
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/**
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* Creates a new ScheduleCommand that schedules the given commands when
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* initialized.
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*
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* @param toSchedule the commands to schedule
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*/
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explicit ScheduleCommand(std::span<Command* const> toSchedule);
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explicit ScheduleCommand(Command* toSchedule);
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ScheduleCommand(ScheduleCommand&& other) = default;
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ScheduleCommand(const ScheduleCommand& other) = default;
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void Initialize() override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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private:
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wpi::SmallSet<Command*, 4> m_toSchedule;
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};
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} // namespace frc2
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