mirror of
https://github.com/wpilibsuite/allwpilib
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aaea85ff16
Moves all CommandBase functionality into Command and deprecates CommandBase for removal. Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal. Adds a function to CommandScheduler to remove all registered Subsystems.
86 lines
2.8 KiB
C++
86 lines
2.8 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 <concepts>
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#include <functional>
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#include <memory>
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#include <utility>
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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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* A command composition that runs one of two commands, depending on the value
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* of the given condition when this command is initialized.
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*
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* <p>The rules for command compositions apply: command instances that are
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* passed to it are owned by the composition and cannot be added to any other
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* composition or scheduled individually, and the composition requires all
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* subsystems its components require.
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*
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* This class is provided by the NewCommands VendorDep
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*
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* @see ScheduleCommand
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*/
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class ConditionalCommand : public CommandHelper<Command, ConditionalCommand> {
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public:
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/**
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* Creates a new ConditionalCommand.
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*
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* @param onTrue the command to run if the condition is true
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* @param onFalse the command to run if the condition is false
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* @param condition the condition to determine which command to run
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*/
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template <std::derived_from<Command> Command1,
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std::derived_from<Command> Command2>
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ConditionalCommand(Command1&& onTrue, Command2&& onFalse,
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std::function<bool()> condition)
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: ConditionalCommand(std::make_unique<std::decay_t<Command1>>(
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std::forward<Command1>(onTrue)),
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std::make_unique<std::decay_t<Command2>>(
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std::forward<Command2>(onFalse)),
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condition) {}
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/**
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* Creates a new ConditionalCommand.
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*
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* @param onTrue the command to run if the condition is true
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* @param onFalse the command to run if the condition is false
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* @param condition the condition to determine which command to run
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*/
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ConditionalCommand(std::unique_ptr<Command>&& onTrue,
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std::unique_ptr<Command>&& onFalse,
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std::function<bool()> condition);
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ConditionalCommand(ConditionalCommand&& other) = default;
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// No copy constructors for command groups
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ConditionalCommand(const ConditionalCommand& other) = delete;
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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InterruptionBehavior GetInterruptionBehavior() const override;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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std::unique_ptr<Command> m_onTrue;
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std::unique_ptr<Command> m_onFalse;
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std::function<bool()> m_condition;
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Command* m_selectedCommand{nullptr};
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bool m_runsWhenDisabled = true;
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};
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} // namespace frc2
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