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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.
63 lines
1.6 KiB
C++
63 lines
1.6 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/RepeatCommand.h"
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#include <wpi/sendable/SendableBuilder.h>
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using namespace frc2;
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RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
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CommandScheduler::GetInstance().RequireUngrouped(command.get());
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m_command = std::move(command);
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m_command->SetComposed(true);
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AddRequirements(m_command->GetRequirements());
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SetName(std::string{"Repeat("}.append(m_command->GetName()).append(")"));
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}
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void RepeatCommand::Initialize() {
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m_ended = false;
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m_command->Initialize();
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}
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void RepeatCommand::Execute() {
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if (m_ended) {
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m_ended = false;
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m_command->Initialize();
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}
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m_command->Execute();
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if (m_command->IsFinished()) {
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// restart command
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m_command->End(false);
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m_ended = true;
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}
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}
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bool RepeatCommand::IsFinished() {
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return false;
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}
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void RepeatCommand::End(bool interrupted) {
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// Make sure we didn't already call end() (which would happen if the command
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// finished in the last call to our execute())
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if (!m_ended) {
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m_command->End(interrupted);
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m_ended = true;
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}
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}
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bool RepeatCommand::RunsWhenDisabled() const {
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return m_command->RunsWhenDisabled();
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}
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Command::InterruptionBehavior RepeatCommand::GetInterruptionBehavior() const {
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return m_command->GetInterruptionBehavior();
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}
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void RepeatCommand::InitSendable(wpi::SendableBuilder& builder) {
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Command::InitSendable(builder);
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builder.AddStringProperty(
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"command", [this] { return m_command->GetName(); }, nullptr);
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}
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