mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
b60eb1544b
A few virtual functions are called by constructors or destructors, which is dangerous in C++ (as an overridden virtual impl won't be called, only the one in the current class). Fix by either marking the function final or not calling at all (if possible).
97 lines
2.9 KiB
C++
97 lines
2.9 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
|
|
|
|
#ifdef _WIN32
|
|
#pragma warning(push)
|
|
#pragma warning(disable : 4521)
|
|
#endif
|
|
|
|
#include <memory>
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
#include "frc2/command/CommandGroupBase.h"
|
|
#include "frc2/command/CommandHelper.h"
|
|
|
|
namespace frc2 {
|
|
/**
|
|
* A CommandGroup that runs a set of commands in parallel, ending when the last
|
|
* command ends.
|
|
*
|
|
* <p>As a rule, CommandGroups require the union of the requirements of their
|
|
* component commands.
|
|
*/
|
|
class ParallelCommandGroup
|
|
: public CommandHelper<CommandGroupBase, ParallelCommandGroup> {
|
|
public:
|
|
/**
|
|
* Creates a new ParallelCommandGroup. The given commands will be executed
|
|
* simultaneously. The command group will finish when the last command
|
|
* finishes. If the CommandGroup is interrupted, only the commands that are
|
|
* still running will be interrupted.
|
|
*
|
|
* @param commands the commands to include in this group.
|
|
*/
|
|
explicit ParallelCommandGroup(
|
|
std::vector<std::unique_ptr<Command>>&& commands);
|
|
|
|
/**
|
|
* Creates a new ParallelCommandGroup. The given commands will be executed
|
|
* simultaneously. The command group will finish when the last command
|
|
* finishes. If the CommandGroup is interrupted, only the commands that are
|
|
* still running will be interrupted.
|
|
*
|
|
* @param commands the commands to include in this group.
|
|
*/
|
|
template <class... Types,
|
|
typename = std::enable_if_t<std::conjunction_v<
|
|
std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
|
|
explicit ParallelCommandGroup(Types&&... commands) {
|
|
AddCommands(std::forward<Types>(commands)...);
|
|
}
|
|
|
|
ParallelCommandGroup(ParallelCommandGroup&& other) = default;
|
|
|
|
// No copy constructors for commandgroups
|
|
ParallelCommandGroup(const ParallelCommandGroup&) = delete;
|
|
|
|
// Prevent template expansion from emulating copy ctor
|
|
ParallelCommandGroup(ParallelCommandGroup&) = delete;
|
|
|
|
template <class... Types,
|
|
typename = std::enable_if_t<std::conjunction_v<
|
|
std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
|
|
void AddCommands(Types&&... commands) {
|
|
std::vector<std::unique_ptr<Command>> foo;
|
|
((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
|
|
std::forward<Types>(commands))),
|
|
...);
|
|
AddCommands(std::move(foo));
|
|
}
|
|
|
|
void Initialize() override;
|
|
|
|
void Execute() override;
|
|
|
|
void End(bool interrupted) override;
|
|
|
|
bool IsFinished() override;
|
|
|
|
bool RunsWhenDisabled() const override;
|
|
|
|
private:
|
|
void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
|
|
|
|
std::vector<std::pair<std::unique_ptr<Command>, bool>> m_commands;
|
|
bool m_runWhenDisabled{true};
|
|
bool isRunning = false;
|
|
};
|
|
} // namespace frc2
|
|
|
|
#ifdef _WIN32
|
|
#pragma warning(pop)
|
|
#endif
|