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https://github.com/wpilibsuite/allwpilib
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aaea85ff16
Moves all CommandBase functionality into Command and deprecates CommandBase for removal. Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal. Adds a function to CommandScheduler to remove all registered Subsystems.
121 lines
3.9 KiB
C++
121 lines
3.9 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 <type_traits>
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#include <utility>
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#include <vector>
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#include <wpi/DecayedDerivedFrom.h>
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#include "frc2/command/CommandBase.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 composition that runs a set of commands in parallel, ending only
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* when a specific command (the "deadline") ends, interrupting all other
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* commands that are still running at that point.
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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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* This class is provided by the NewCommands VendorDep
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*/
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class ParallelDeadlineGroup
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: public CommandHelper<Command, ParallelDeadlineGroup> {
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public:
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/**
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* Creates a new ParallelDeadlineGroup. The given commands (including the
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* deadline) will be executed simultaneously. The composition will finish when
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* the deadline finishes, interrupting all other still-running commands. If
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* the composition is interrupted, only the commands still running will be
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* interrupted.
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*
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* @param deadline the command that determines when the composition ends
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* @param commands the commands to be executed
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*/
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ParallelDeadlineGroup(std::unique_ptr<Command>&& deadline,
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std::vector<std::unique_ptr<Command>>&& commands);
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/**
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* Creates a new ParallelDeadlineGroup. The given commands (including the
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* deadline) will be executed simultaneously. The composition will finish when
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* the deadline finishes, interrupting all other still-running commands. If
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* the composition is interrupted, only the commands still running will be
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* interrupted.
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*
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* @param deadline the command that determines when the composition ends
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* @param commands the commands to be executed
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*/
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template <wpi::DecayedDerivedFrom<Command> T,
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wpi::DecayedDerivedFrom<Command>... Commands>
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explicit ParallelDeadlineGroup(T&& deadline, Commands&&... commands) {
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SetDeadline(std::make_unique<std::decay_t<T>>(std::forward<T>(deadline)));
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AddCommands(std::forward<Commands>(commands)...);
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}
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ParallelDeadlineGroup(ParallelDeadlineGroup&& other) = default;
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// No copy constructors for command groups
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ParallelDeadlineGroup(const ParallelDeadlineGroup&) = delete;
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// Prevent template expansion from emulating copy ctor
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ParallelDeadlineGroup(ParallelDeadlineGroup&) = delete;
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/**
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* Adds the given commands to the group.
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*
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* @param commands Commands to add to the group.
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*/
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template <wpi::DecayedDerivedFrom<Command>... Commands>
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void AddCommands(Commands&&... commands) {
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std::vector<std::unique_ptr<Command>> foo;
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((void)foo.emplace_back(std::make_unique<std::decay_t<Commands>>(
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std::forward<Commands>(commands))),
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...);
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AddCommands(std::move(foo));
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}
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void Initialize() final;
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void Execute() final;
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void End(bool interrupted) final;
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bool IsFinished() final;
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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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void AddCommands(std::vector<std::unique_ptr<Command>>&& commands);
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void SetDeadline(std::unique_ptr<Command>&& deadline);
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std::vector<std::pair<std::unique_ptr<Command>, bool>> m_commands;
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Command* m_deadline;
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bool m_runWhenDisabled{true};
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Command::InterruptionBehavior m_interruptBehavior{
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Command::InterruptionBehavior::kCancelIncoming};
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bool m_finished{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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