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https://github.com/wpilibsuite/allwpilib
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4bbdbdfb48
Move the command group checking functionality from CommandGroupBase into CommandScheduler. Update references to grouping as composition for clarity (because explicitly grouping isn't the only way to do it). Deprecate the static factory methods parallel, race, and deadline in CommandGroupBase in favor of the identical ones in Commands.
44 lines
1.1 KiB
C++
44 lines
1.1 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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#include "frc2/command/WrapperCommand.h"
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#include "frc2/command/Command.h"
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using namespace frc2;
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WrapperCommand::WrapperCommand(std::unique_ptr<Command>&& command) {
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CommandScheduler::GetInstance().RequireUngrouped(command.get());
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m_command = std::move(command);
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m_command->SetComposed(true);
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}
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void WrapperCommand::Initialize() {
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m_command->Initialize();
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}
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void WrapperCommand::Execute() {
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m_command->Execute();
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}
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bool WrapperCommand::IsFinished() {
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return m_command->IsFinished();
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}
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void WrapperCommand::End(bool interrupted) {
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m_command->End(interrupted);
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}
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bool WrapperCommand::RunsWhenDisabled() const {
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return m_command->RunsWhenDisabled();
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}
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Command::InterruptionBehavior WrapperCommand::GetInterruptionBehavior() const {
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return m_command->GetInterruptionBehavior();
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}
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wpi::SmallSet<Subsystem*, 4> WrapperCommand::GetRequirements() const {
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return m_command->GetRequirements();
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}
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