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55 lines
1.7 KiB
C++
55 lines
1.7 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 <frc/Notifier.h>
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#include <units/time.h>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/Requirements.h"
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namespace frc2 {
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/**
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* A command that starts a notifier to run the given runnable periodically in a
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* separate thread. Has no end condition as-is; either subclass it or use
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* Command::WithTimeout(double) or Command::Until(BooleanSupplier) to
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* give it one.
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*
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* <p>WARNING: Do not use this class unless you are confident in your ability to
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* make the executed code thread-safe. If you do not know what "thread-safe"
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* means, that is a good sign that you should not use this class.
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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 NotifierCommand : public CommandHelper<Command, NotifierCommand> {
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public:
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/**
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* Creates a new NotifierCommand.
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*
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* @param toRun the runnable for the notifier to run
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* @param period the period at which the notifier should run
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* @param requirements the subsystems required by this command
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*/
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NotifierCommand(std::function<void()> toRun, units::second_t period,
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Requirements requirements = {});
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NotifierCommand(NotifierCommand&& other);
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NotifierCommand(const NotifierCommand& other);
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void Initialize() override;
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void End(bool interrupted) override;
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private:
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std::function<void()> m_toRun;
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frc::Notifier m_notifier;
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units::second_t m_period;
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};
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} // namespace frc2
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