mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
4bbdbdfb48
Move the command group checking functionality from CommandGroupBase into CommandScheduler. Update references to grouping as composition for clarity (because explicitly grouping isn't the only way to do it). Deprecate the static factory methods parallel, race, and deadline in CommandGroupBase in favor of the identical ones in Commands.
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <span>
|
|
|
|
#include <wpi/SmallVector.h>
|
|
|
|
#include "frc2/command/CommandBase.h"
|
|
#include "frc2/command/CommandHelper.h"
|
|
#include "frc2/command/SetUtilities.h"
|
|
|
|
namespace frc2 {
|
|
/**
|
|
* Schedules the given commands when this command is initialized. Useful for
|
|
* forking off from CommandGroups. Note that if run from a composition, the
|
|
* composition will not know about the status of the scheduled commands, and
|
|
* will treat this command as finishing instantly.
|
|
*
|
|
* This class is provided by the NewCommands VendorDep
|
|
*/
|
|
class ScheduleCommand : public CommandHelper<CommandBase, ScheduleCommand> {
|
|
public:
|
|
/**
|
|
* Creates a new ScheduleCommand that schedules the given commands when
|
|
* initialized.
|
|
*
|
|
* @param toSchedule the commands to schedule
|
|
*/
|
|
explicit ScheduleCommand(std::span<Command* const> toSchedule);
|
|
|
|
explicit ScheduleCommand(Command* toSchedule);
|
|
|
|
ScheduleCommand(ScheduleCommand&& other) = default;
|
|
|
|
ScheduleCommand(const ScheduleCommand& other) = default;
|
|
|
|
void Initialize() override;
|
|
|
|
bool IsFinished() override;
|
|
|
|
bool RunsWhenDisabled() const override;
|
|
|
|
private:
|
|
wpi::SmallVector<Command*, 4> m_toSchedule;
|
|
};
|
|
} // namespace frc2
|