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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __COMMAND_GROUP_H__
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#define __COMMAND_GROUP_H__
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#include "Commands/Command.h"
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#include "Commands/CommandGroupEntry.h"
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#include <list>
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#include <vector>
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/**
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* A {@link CommandGroup} is a list of commands which are executed in sequence.
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*
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* <p>Commands in a {@link CommandGroup} are added using the {@link CommandGroup#AddSequential(Command) AddSequential(...)} method
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* and are called sequentially.
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* {@link CommandGroup CommandGroups} are themselves {@link Command Commands}
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* and can be given to other {@link CommandGroup CommandGroups}.</p>
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*
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* <p>{@link CommandGroup CommandGroups} will carry all of the requirements of their {@link Command subcommands}. Additional
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* requirements can be specified by calling {@link CommandGroup#Requires(Subsystem) Requires(...)}
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* normally in the constructor.</P>
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*
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* <p>CommandGroups can also execute commands in parallel, simply by adding them
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* using {@link CommandGroup#AddParallel(Command) AddParallel(...)}.</p>
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*
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* @see Command
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* @see Subsystem
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*/
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class CommandGroup : public Command
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{
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public:
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CommandGroup();
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CommandGroup(const char *name);
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virtual ~CommandGroup();
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void AddSequential(Command *command);
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void AddSequential(Command *command, double timeout);
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void AddParallel(Command *command);
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void AddParallel(Command *command, double timeout);
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bool IsInterruptible();
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int GetSize();
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protected:
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virtual void Initialize();
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virtual void Execute();
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virtual bool IsFinished();
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virtual void End();
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virtual void Interrupted();
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virtual void _Initialize();
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virtual void _Interrupted();
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virtual void _Execute();
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virtual void _End();
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private:
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void CancelConflicts(Command *command);
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typedef std::vector<CommandGroupEntry> CommandVector;
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/** The commands in this group (stored in entries) */
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CommandVector m_commands;
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typedef std::list<CommandGroupEntry> CommandList;
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/** The active children in this group (stored in entries) */
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CommandList m_children;
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/** The current command, -1 signifies that none have been run */
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int m_currentCommandIndex;
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};
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#endif
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