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42 lines
1.4 KiB
C++
42 lines
1.4 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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#include "frc2/command/NotifierCommand.h"
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using namespace frc2;
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NotifierCommand::NotifierCommand(std::function<void()> toRun,
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units::second_t period,
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std::initializer_list<Subsystem*> requirements)
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: m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
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AddRequirements(requirements);
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}
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NotifierCommand::NotifierCommand(std::function<void()> toRun,
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units::second_t period,
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wpi::span<Subsystem* const> requirements)
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: m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
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AddRequirements(requirements);
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}
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NotifierCommand::NotifierCommand(NotifierCommand&& other)
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: CommandHelper(std::move(other)),
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m_toRun(other.m_toRun),
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m_notifier(other.m_toRun),
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m_period(other.m_period) {}
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NotifierCommand::NotifierCommand(const NotifierCommand& other)
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: CommandHelper(other),
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m_toRun(other.m_toRun),
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m_notifier(frc::Notifier(other.m_toRun)),
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m_period(other.m_period) {}
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void NotifierCommand::Initialize() {
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m_notifier.StartPeriodic(m_period);
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}
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void NotifierCommand::End(bool interrupted) {
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m_notifier.Stop();
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}
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