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84 lines
2.5 KiB
C++
84 lines
2.5 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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#ifdef _WIN32
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#pragma warning(push)
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#pragma warning(disable : 4521)
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#endif
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#include <memory>
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#include <utility>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandGroupBase.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 another command in perpetuity, ignoring that command's
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* end conditions. While this class does not extend {@link CommandGroupBase},
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* it is still considered a CommandGroup, as it allows one to compose another
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* command within it; the command instances that are passed to it cannot be
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* added to any other groups, or scheduled individually.
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*
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* <p>As a rule, CommandGroups require the union of the requirements of their
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* component commands.
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*
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* This class is provided by the NewCommands VendorDep
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*
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* @deprecated replace with EndlessCommand
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*/
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class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
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public:
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/**
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* Creates a new PerpetualCommand. Will run another command in perpetuity,
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* ignoring that command's end conditions, unless this command itself is
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* interrupted.
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*
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* @param command the command to run perpetually
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*/
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WPI_DEPRECATED("Replace with EndlessCommand")
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explicit PerpetualCommand(std::unique_ptr<Command>&& command);
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WPI_IGNORE_DEPRECATED
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/**
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* Creates a new PerpetualCommand. Will run another command in perpetuity,
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* ignoring that command's end conditions, unless this command itself is
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* interrupted.
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*
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* @param command the command to run perpetually
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*/
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template <class T, typename = std::enable_if_t<std::is_base_of_v<
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Command, std::remove_reference_t<T>>>>
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WPI_DEPRECATED("Replace with EndlessCommand")
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explicit PerpetualCommand(T&& command)
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: PerpetualCommand(std::make_unique<std::remove_reference_t<T>>(
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std::forward<T>(command))) {}
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WPI_UNIGNORE_DEPRECATED
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PerpetualCommand(PerpetualCommand&& other) = default;
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// No copy constructors for command groups
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PerpetualCommand(const PerpetualCommand& other) = delete;
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// Prevent template expansion from emulating copy ctor
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PerpetualCommand(PerpetualCommand&) = delete;
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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private:
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std::unique_ptr<Command> m_command;
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};
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} // namespace frc2
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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