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https://github.com/wpilibsuite/allwpilib
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62812faf62
* Replaced include guards with #pragma once * All source files now have exactly one newline appended Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
71 lines
2.4 KiB
C++
71 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2016. 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 <list>
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#include <vector>
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#include "Commands/Command.h"
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#include "Commands/CommandGroupEntry.h"
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/**
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* A {@link CommandGroup} is a list of commands which are executed in sequence.
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*
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* <p>Commands in a {@link CommandGroup} are added using the {@link
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* CommandGroup#AddSequential(Command) AddSequential(...)} method and are
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* called sequentially. {@link CommandGroup CommandGroups} are themselves
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* {@link Command Commands} and can be given to other
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* {@link CommandGroup CommandGroups}.</p>
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*
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* <p>{@link CommandGroup CommandGroups} will carry all of the requirements of
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* their {@link Command subcommands}. Additional requirements can be specified
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* by calling {@link CommandGroup#Requires(Subsystem) Requires(...)} normally
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* in the constructor.</P>
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*
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* <p>CommandGroups can also execute commands in parallel, simply by adding them
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* using {@link CommandGroup#AddParallel(Command) AddParallel(...)}.</p>
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*
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* @see Command
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* @see Subsystem
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*/
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class CommandGroup : public Command {
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public:
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CommandGroup() = default;
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CommandGroup(const std::string& name);
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virtual ~CommandGroup() = default;
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void AddSequential(Command* command);
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void AddSequential(Command* command, double timeout);
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void AddParallel(Command* command);
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void AddParallel(Command* command, double timeout);
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bool IsInterruptible() const;
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int GetSize() const;
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protected:
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virtual void Initialize();
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virtual void Execute();
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virtual bool IsFinished();
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virtual void End();
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virtual void Interrupted();
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virtual void _Initialize();
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virtual void _Interrupted();
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virtual void _Execute();
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virtual void _End();
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private:
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void CancelConflicts(Command* command);
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/** The commands in this group (stored in entries) */
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std::vector<CommandGroupEntry> m_commands;
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/** The active children in this group (stored in entries) */
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std::list<CommandGroupEntry> m_children;
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/** The current command, -1 signifies that none have been run */
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int m_currentCommandIndex = -1;
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};
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