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91 lines
3.3 KiB
Python
91 lines
3.3 KiB
Python
# validated: 2024-01-20 DS ad0859a8c9ec WrapperCommand.java
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from __future__ import annotations
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from typing import Set
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from .command import Command, InterruptionBehavior
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from .commandscheduler import CommandScheduler
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class WrapperCommand(Command):
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"""
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A class used internally to wrap commands while overriding a specific method; all other methods
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will call through to the wrapped command.
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The rules for command compositions apply: command instances that are passed to it cannot be
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added to any other 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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def __init__(self, command: Command):
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"""
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Wrap a command.
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:param command: the command being wrapped. Trying to directly schedule this
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command or add it to a composition will throw an exception.
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"""
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super().__init__()
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CommandScheduler.getInstance().registerComposedCommands([command])
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self._command = command
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self.setName(self._command.getName())
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def initialize(self):
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"""
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The initial subroutine of a command. Called once when the command is initially scheduled.
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"""
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self._command.initialize()
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def execute(self):
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"""
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The main body of a command. Called repeatedly while the command is scheduled.
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"""
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self._command.execute()
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def end(self, interrupted: bool):
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"""
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The action to take when the command ends. Called when either the command finishes normally, or
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when it interrupted/canceled.
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Do not schedule commands here that share requirements with this command. Use
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:func:`commands2.Command.andThen` instead.
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:param interrupted: whether the command was interrupted/canceled
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"""
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self._command.end(interrupted)
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def isFinished(self) -> bool:
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"""
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Whether the command has finished. Once a command finishes, the scheduler will call its end()
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method and un-schedule it.
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:returns: whether the command has finished.
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"""
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return self._command.isFinished()
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def getRequirements(self) -> Set:
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"""
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Specifies the set of subsystems used by this command. Two commands cannot use the same
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subsystem at the same time. If the command is scheduled as interruptible and another command is
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scheduled that shares a requirement, the command will be interrupted. Else, the command will
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not be scheduled. If no subsystems are required, return an empty set.
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Note: it is recommended that user implementations contain the requirements as a field, and
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return that field here, rather than allocating a new set every time this is called.
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:returns: the set of subsystems that are required
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"""
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return self._command.getRequirements()
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def runsWhenDisabled(self) -> bool:
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"""
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Whether the given command should run when the robot is disabled. Override to return true if the
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command should run when disabled.
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:returns: whether the command should run when the robot is disabled
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"""
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return self._command.runsWhenDisabled()
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def getInterruptionBehavior(self) -> InterruptionBehavior:
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return self._command.getInterruptionBehavior()
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