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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
53 lines
1.5 KiB
C++
53 lines
1.5 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 <functional>
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#include <units/time.h>
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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 does nothing but ends after a specified match time or
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* condition. Useful for CommandGroups.
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*/
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class WaitUntilCommand : public CommandHelper<CommandBase, WaitUntilCommand> {
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public:
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/**
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* Creates a new WaitUntilCommand that ends after a given condition becomes
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* true.
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*
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* @param condition the condition to determine when to end
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*/
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explicit WaitUntilCommand(std::function<bool()> condition);
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/**
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* Creates a new WaitUntilCommand that ends after a given match time.
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*
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* <p>NOTE: The match timer used for this command is UNOFFICIAL. Using this
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* command does NOT guarantee that the time at which the action is performed
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* will be judged to be legal by the referees. When in doubt, add a safety
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* factor or time the action manually.
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*
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* @param time the match time after which to end, in seconds
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*/
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explicit WaitUntilCommand(units::second_t time);
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WaitUntilCommand(WaitUntilCommand&& other) = default;
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WaitUntilCommand(const WaitUntilCommand& other) = default;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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private:
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std::function<bool()> m_condition;
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};
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} // namespace frc2
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