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https://github.com/wpilibsuite/allwpilib
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85 lines
2.4 KiB
C++
85 lines
2.4 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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#ifdef _WIN32
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#pragma warning(push)
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#pragma warning(disable : 4521)
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#endif
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#include <concepts>
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#include <memory>
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#include <utility>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandHelper.h"
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namespace frc2 {
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/**
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* A command that runs another command repeatedly, restarting it when it ends,
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* until this command is interrupted. Command instances that are passed to it
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* cannot be added to any other groups, or scheduled individually.
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*
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* <p>The rules for command compositions apply: command instances that are
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* passed to it are owned by the composition and cannot be added to any other
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* composition or scheduled individually, and the composition requires all
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* subsystems its components require.
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*
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* <p>This class is provided by the NewCommands VendorDep
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*/
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class RepeatCommand : public CommandHelper<Command, RepeatCommand> {
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public:
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/**
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* Creates a new RepeatCommand. Will run another command repeatedly,
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* restarting it whenever it ends, until this command is interrupted.
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*
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* @param command the command to run repeatedly
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*/
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explicit RepeatCommand(std::unique_ptr<Command>&& command);
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/**
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* Creates a new RepeatCommand. Will run another command repeatedly,
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* restarting it whenever it ends, until this command is interrupted.
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*
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* @param command the command to run repeatedly
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*/
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template <std::derived_from<Command> T>
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// NOLINTNEXTLINE(bugprone-forwarding-reference-overload)
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explicit RepeatCommand(T&& command)
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: RepeatCommand(
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std::make_unique<std::decay_t<T>>(std::forward<T>(command))) {}
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RepeatCommand(RepeatCommand&& other) = default;
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// No copy constructors for command groups
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RepeatCommand(const RepeatCommand& other) = delete;
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// Prevent template expansion from emulating copy ctor
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RepeatCommand(RepeatCommand&) = delete;
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void Initialize() override;
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void Execute() override;
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bool IsFinished() override;
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void End(bool interrupted) override;
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bool RunsWhenDisabled() const override;
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Command::InterruptionBehavior GetInterruptionBehavior() const override;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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std::unique_ptr<Command> m_command;
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bool m_ended;
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};
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} // namespace frc2
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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