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https://github.com/wpilibsuite/allwpilib
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00228678d4
Assorted improvements to the ergonomics of declaring requirements in the new command framework. C++ requirements list parameters have been defaulted to an empty list, some missing C++ requirements list parameters have been added, and both C++ and Java have been given requirements list params in various InstantCommand wrapper methods (#2049), whose value is forwarded to the command.
52 lines
1.7 KiB
C++
52 lines
1.7 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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#pragma once
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#include <functional>
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#include <initializer_list>
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#include "frc2/command/CommandBase.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 that runs instantly; it will initialize, execute once, and end on
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* the same iteration of the scheduler. Users can either pass in a Runnable and
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* a set of requirements, or else subclass this command if desired.
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*/
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class InstantCommand : public CommandHelper<CommandBase, InstantCommand> {
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public:
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/**
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* Creates a new InstantCommand that runs the given Runnable with the given
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* requirements.
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*
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* @param toRun the Runnable to run
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* @param requirements the subsystems required by this command
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*/
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InstantCommand(std::function<void()> toRun,
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std::initializer_list<Subsystem*> requirements = {});
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InstantCommand(InstantCommand&& other) = default;
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InstantCommand(const InstantCommand& other) = default;
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/**
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* Creates a new InstantCommand with a Runnable that does nothing. Useful
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* only as a no-arg constructor to call implicitly from subclass constructors.
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*/
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InstantCommand();
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void Initialize() override;
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bool IsFinished() final;
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private:
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std::function<void()> m_toRun;
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};
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} // namespace frc2
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