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47 lines
1.3 KiB
C++
47 lines
1.3 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/DeferredCommand.h"
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#include <wpi/sendable/SendableBuilder.h>
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#include "frc2/command/Commands.h"
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using namespace frc2;
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DeferredCommand::DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
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Requirements requirements)
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: m_supplier{std::move(supplier)} {
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AddRequirements(requirements);
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}
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void DeferredCommand::Initialize() {
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m_command = m_supplier().Unwrap();
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CommandScheduler::GetInstance().RequireUngrouped(m_command.get());
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m_command->SetComposed(true);
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m_command->Initialize();
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}
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void DeferredCommand::Execute() {
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m_command->Execute();
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}
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void DeferredCommand::End(bool interrupted) {
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m_command->End(interrupted);
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m_command =
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cmd::Print("[DeferredCommand] Lifecycle function called out-of-order!")
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.WithName("none")
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.Unwrap();
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}
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bool DeferredCommand::IsFinished() {
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return m_command->IsFinished();
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}
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void DeferredCommand::InitSendable(wpi::SendableBuilder& builder) {
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Command::InitSendable(builder);
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builder.AddStringProperty(
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"deferred", [this] { return m_command->GetName(); }, nullptr);
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}
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