mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
509819d83f
This will allow us at the user code side to determine to include old commands, new commands or both.
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc2/command/CommandGroupBase.h"
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#include <set>
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#include "frc/WPIErrors.h"
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#include "frc2/command/ParallelCommandGroup.h"
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#include "frc2/command/ParallelDeadlineGroup.h"
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#include "frc2/command/ParallelRaceGroup.h"
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#include "frc2/command/SequentialCommandGroup.h"
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using namespace frc2;
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template <typename TMap, typename TKey>
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static bool ContainsKey(const TMap& map, TKey keyToCheck) {
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return map.find(keyToCheck) != map.end();
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}
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bool CommandGroupBase::RequireUngrouped(Command& command) {
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if (command.IsGrouped()) {
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wpi_setGlobalWPIErrorWithContext(
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CommandIllegalUse,
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"Commands cannot be added to more than one CommandGroup");
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return false;
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} else {
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return true;
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}
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}
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bool CommandGroupBase::RequireUngrouped(
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wpi::ArrayRef<std::unique_ptr<Command>> commands) {
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bool allUngrouped = true;
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for (auto&& command : commands) {
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allUngrouped &= !command.get()->IsGrouped();
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}
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if (!allUngrouped) {
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wpi_setGlobalWPIErrorWithContext(
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CommandIllegalUse,
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"Commands cannot be added to more than one CommandGroup");
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}
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return allUngrouped;
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}
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bool CommandGroupBase::RequireUngrouped(
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std::initializer_list<Command*> commands) {
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bool allUngrouped = true;
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for (auto&& command : commands) {
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allUngrouped &= !command->IsGrouped();
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}
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if (!allUngrouped) {
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wpi_setGlobalWPIErrorWithContext(
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CommandIllegalUse,
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"Commands cannot be added to more than one CommandGroup");
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}
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return allUngrouped;
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}
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