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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.
91 lines
2.5 KiB
C++
91 lines
2.5 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 <functional>
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#include <wpi/Twine.h>
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#include "frc/commands/Command.h"
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#include "frc/commands/Subsystem.h"
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namespace frc {
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/**
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* This command will execute once, then finish immediately afterward.
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*
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* Subclassing InstantCommand is shorthand for returning true from IsFinished().
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*/
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class InstantCommand : public Command {
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public:
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/**
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* Creates a new InstantCommand with the given name.
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*
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* @param name The name for this command
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*/
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explicit InstantCommand(const wpi::Twine& name);
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/**
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* Creates a new InstantCommand with the given requirement.
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*
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* @param subsystem The subsystem that the command requires
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*/
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explicit InstantCommand(Subsystem& subsystem);
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/**
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* Creates a new InstantCommand with the given name.
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*
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* @param name The name for this command
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* @param subsystem The subsystem that the command requires
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*/
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InstantCommand(const wpi::Twine& name, Subsystem& subsystem);
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/**
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* Create a command that calls the given function when run.
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*
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* @param func The function to run when Initialize() is run.
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*/
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explicit InstantCommand(std::function<void()> func);
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/**
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* Create a command that calls the given function when run.
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*
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* @param subsystem The subsystems that this command runs on.
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* @param func The function to run when Initialize() is run.
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*/
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InstantCommand(Subsystem& subsystem, std::function<void()> func);
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/**
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* Create a command that calls the given function when run.
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*
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* @param name The name of the command.
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* @param func The function to run when Initialize() is run.
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*/
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InstantCommand(const wpi::Twine& name, std::function<void()> func);
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/**
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* Create a command that calls the given function when run.
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*
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* @param name The name of the command.
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* @param subsystem The subsystems that this command runs on.
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* @param func The function to run when Initialize() is run.
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*/
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InstantCommand(const wpi::Twine& name, Subsystem& subsystem,
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std::function<void()> func);
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InstantCommand() = default;
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virtual ~InstantCommand() = default;
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InstantCommand(InstantCommand&&) = default;
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InstantCommand& operator=(InstantCommand&&) = default;
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protected:
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std::function<void()> m_func = nullptr;
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void _Initialize() override;
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bool IsFinished() override;
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};
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} // namespace frc
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