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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
45 lines
1.3 KiB
C++
45 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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#pragma once
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#include <wpi/ArrayRef.h>
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#include <wpi/SmallVector.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/SetUtilities.h"
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namespace frc2 {
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/**
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* Schedules the given commands when this command is initialized. Useful for
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* forking off from CommandGroups. Note that if run from a CommandGroup, the
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* group will not know about the status of the scheduled commands, and will
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* treat this command as finishing instantly.
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*/
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class ScheduleCommand : public CommandHelper<CommandBase, ScheduleCommand> {
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public:
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/**
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* Creates a new ScheduleCommand that schedules the given commands when
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* initialized.
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*
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* @param toSchedule the commands to schedule
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*/
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explicit ScheduleCommand(wpi::ArrayRef<Command*> toSchedule);
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ScheduleCommand(ScheduleCommand&& other) = default;
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ScheduleCommand(const ScheduleCommand& other) = default;
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void Initialize() 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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wpi::SmallVector<Command*, 4> m_toSchedule;
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};
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} // namespace frc2
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