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https://github.com/wpilibsuite/allwpilib
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aaea85ff16
Moves all CommandBase functionality into Command and deprecates CommandBase for removal. Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal. Adds a function to CommandScheduler to remove all registered Subsystems.
90 lines
2.6 KiB
C++
90 lines
2.6 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/SequentialCommandGroup.h"
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#include <wpi/sendable/SendableBuilder.h>
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using namespace frc2;
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SequentialCommandGroup::SequentialCommandGroup(
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std::vector<std::unique_ptr<Command>>&& commands) {
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AddCommands(std::move(commands));
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}
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void SequentialCommandGroup::Initialize() {
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m_currentCommandIndex = 0;
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if (!m_commands.empty()) {
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m_commands[0]->Initialize();
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}
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}
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void SequentialCommandGroup::Execute() {
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if (m_commands.empty()) {
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return;
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}
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auto& currentCommand = m_commands[m_currentCommandIndex];
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currentCommand->Execute();
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if (currentCommand->IsFinished()) {
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currentCommand->End(false);
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m_currentCommandIndex++;
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if (m_currentCommandIndex < m_commands.size()) {
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m_commands[m_currentCommandIndex]->Initialize();
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}
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}
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}
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void SequentialCommandGroup::End(bool interrupted) {
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if (interrupted && !m_commands.empty() &&
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m_currentCommandIndex != invalid_index &&
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m_currentCommandIndex < m_commands.size()) {
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m_commands[m_currentCommandIndex]->End(interrupted);
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}
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m_currentCommandIndex = invalid_index;
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}
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bool SequentialCommandGroup::IsFinished() {
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return m_currentCommandIndex == m_commands.size();
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}
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bool SequentialCommandGroup::RunsWhenDisabled() const {
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return m_runWhenDisabled;
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}
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Command::InterruptionBehavior SequentialCommandGroup::GetInterruptionBehavior()
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const {
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return m_interruptBehavior;
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}
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void SequentialCommandGroup::AddCommands(
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std::vector<std::unique_ptr<Command>>&& commands) {
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CommandScheduler::GetInstance().RequireUngrouped(commands);
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if (m_currentCommandIndex != invalid_index) {
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throw FRC_MakeError(frc::err::CommandIllegalUse,
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"Commands cannot be added to a CommandGroup "
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"while the group is running");
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}
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for (auto&& command : commands) {
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command->SetComposed(true);
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AddRequirements(command->GetRequirements());
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m_runWhenDisabled &= command->RunsWhenDisabled();
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if (command->GetInterruptionBehavior() ==
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Command::InterruptionBehavior::kCancelSelf) {
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m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
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}
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m_commands.emplace_back(std::move(command));
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}
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}
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void SequentialCommandGroup::InitSendable(wpi::SendableBuilder& builder) {
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Command::InitSendable(builder);
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builder.AddIntegerProperty(
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"index", [this] { return m_currentCommandIndex; }, nullptr);
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}
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