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https://github.com/wpilibsuite/allwpilib
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51 lines
1.4 KiB
C++
51 lines
1.4 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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#include <wpi/SmallVector.h>
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#include <wpi/span.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/SetUtilities.h"
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namespace frc2 {
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/**
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* Schedules the given commands when this command is initialized, and ends when
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* all the commands are no longer scheduled. Useful for forking off from
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* CommandGroups. If this command is interrupted, it will cancel all of the
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* commands.
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*/
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class ProxyScheduleCommand
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: public CommandHelper<CommandBase, ProxyScheduleCommand> {
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public:
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/**
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* Creates a new ProxyScheduleCommand that schedules the given commands when
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* initialized, and ends when they are all no longer scheduled.
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*
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* @param toSchedule the commands to schedule
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*/
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explicit ProxyScheduleCommand(wpi::span<Command* const> toSchedule);
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explicit ProxyScheduleCommand(Command* toSchedule);
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ProxyScheduleCommand(ProxyScheduleCommand&& other) = default;
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ProxyScheduleCommand(const ProxyScheduleCommand& other) = default;
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void Initialize() override;
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void End(bool interrupted) override;
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void Execute() override;
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bool IsFinished() override;
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private:
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wpi::SmallVector<Command*, 4> m_toSchedule;
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bool m_finished{false};
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};
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} // namespace frc2
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