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https://github.com/wpilibsuite/allwpilib
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91cbcea841
Concepts are cleaner to use and result in much better error messages for incorrect template use.
105 lines
3.2 KiB
C++
105 lines
3.2 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 <type_traits>
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#include <utility>
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#include <vector>
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#include <wpi/DecayedDerivedFrom.h>
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#include <wpi/concepts.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 composition that runs a set of commands in parallel, ending when
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* the last command ends.
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*
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* <p>The rules for command compositions apply: command instances that are
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* passed to it are owned by the composition and cannot be added to any other
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* 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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* This class is provided by the NewCommands VendorDep
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*/
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class ParallelCommandGroup
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: public CommandHelper<CommandGroupBase, ParallelCommandGroup> {
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public:
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/**
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* Creates a new ParallelCommandGroup. The given commands will be executed
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* simultaneously. The command group will finish when the last command
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* finishes. If the composition is interrupted, only the commands that are
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* still running will be interrupted.
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*
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* @param commands the commands to include in this composition.
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*/
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explicit ParallelCommandGroup(
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std::vector<std::unique_ptr<Command>>&& commands);
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/**
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* Creates a new ParallelCommandGroup. The given commands will be executed
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* simultaneously. The command group will finish when the last command
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* finishes. If the composition is interrupted, only the commands that are
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* still running will be interrupted.
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*
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* @param commands the commands to include in this composition.
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*/
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template <wpi::DecayedDerivedFrom<Command>... Commands>
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explicit ParallelCommandGroup(Commands&&... commands) {
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AddCommands(std::forward<Commands>(commands)...);
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}
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ParallelCommandGroup(ParallelCommandGroup&& other) = default;
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// No copy constructors for command groups
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ParallelCommandGroup(const ParallelCommandGroup&) = delete;
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// Prevent template expansion from emulating copy ctor
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ParallelCommandGroup(ParallelCommandGroup&) = delete;
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template <wpi::DecayedDerivedFrom<Command>... Commands>
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void AddCommands(Commands&&... commands) {
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std::vector<std::unique_ptr<Command>> foo;
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((void)foo.emplace_back(std::make_unique<std::decay_t<Commands>>(
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std::forward<Commands>(commands))),
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...);
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AddCommands(std::move(foo));
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}
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void Initialize() final;
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void Execute() final;
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void End(bool interrupted) final;
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bool IsFinished() final;
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bool RunsWhenDisabled() const override;
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Command::InterruptionBehavior GetInterruptionBehavior() const override;
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private:
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void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
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std::vector<std::pair<std::unique_ptr<Command>, bool>> m_commands;
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bool m_runWhenDisabled{true};
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Command::InterruptionBehavior m_interruptBehavior{
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Command::InterruptionBehavior::kCancelIncoming};
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bool isRunning = false;
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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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