mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
e6f5c93ab1
- Remove use of std::set. The only place std::set was actually used was in ParallelRaceGroup, but this was of minimal utility as ParallelRaceGroup checked for duplicate subsystem requirements, so it would be very unusual to end up with duplicate commands in any case; replaced it with a vector. - Remove use of std::unordered_map except for SelectCommand. Replaced with vector. - Use pImpl idiom for CommandScheduler - Minimize include files (remove unnecessary ones) - Reformat include file order for consistency
106 lines
3.2 KiB
C++
106 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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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 <limits>
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#include <memory>
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#include <type_traits>
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#include <utility>
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#include <vector>
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#include <frc/ErrorBase.h>
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#include <frc/WPIErrors.h>
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#include <wpi/ArrayRef.h>
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#include "frc2/command/CommandGroupBase.h"
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#include "frc2/command/CommandHelper.h"
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namespace frc2 {
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const size_t invalid_index = std::numeric_limits<size_t>::max();
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/**
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* A CommandGroups that runs a list of commands in sequence.
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*
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* <p>As a rule, CommandGroups require the union of the requirements of their
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* component commands.
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*/
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class SequentialCommandGroup
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: public CommandHelper<CommandGroupBase, SequentialCommandGroup> {
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public:
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/**
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* Creates a new SequentialCommandGroup. The given commands will be run
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* sequentially, with the CommandGroup finishing when the last command
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* finishes.
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*
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* @param commands the commands to include in this group.
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*/
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explicit SequentialCommandGroup(
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std::vector<std::unique_ptr<Command>>&& commands);
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/**
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* Creates a new SequentialCommandGroup. The given commands will be run
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* sequentially, with the CommandGroup finishing when the last command
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* finishes.
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*
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* @param commands the commands to include in this group.
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*/
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template <class... Types,
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typename = std::enable_if_t<std::conjunction_v<
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std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
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explicit SequentialCommandGroup(Types&&... commands) {
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AddCommands(std::forward<Types>(commands)...);
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}
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SequentialCommandGroup(SequentialCommandGroup&& other) = default;
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// No copy constructors for command groups
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SequentialCommandGroup(const SequentialCommandGroup&) = delete;
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// Prevent template expansion from emulating copy ctor
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SequentialCommandGroup(SequentialCommandGroup&) = delete;
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template <class... Types,
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typename = std::enable_if_t<std::conjunction_v<
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std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
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void AddCommands(Types&&... commands) {
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std::vector<std::unique_ptr<Command>> foo;
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((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
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std::forward<Types>(commands))),
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...);
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AddCommands(std::move(foo));
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}
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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private:
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void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
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wpi::SmallVector<std::unique_ptr<Command>, 4> m_commands;
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size_t m_currentCommandIndex{invalid_index};
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bool m_runWhenDisabled{true};
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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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