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https://github.com/wpilibsuite/allwpilib
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b60eb1544b
A few virtual functions are called by constructors or destructors, which is dangerous in C++ (as an overridden virtual impl won't be called, only the one in the current class). Fix by either marking the function final or not calling at all (if possible).
86 lines
2.4 KiB
C++
86 lines
2.4 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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#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 <memory>
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#include <utility>
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#include <vector>
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#include "frc2/command/CommandGroupBase.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 CommandGroup that runs a set of commands in parallel, ending when any one
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* of the commands ends and interrupting all the others.
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*
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* <p>As a rule, CommandGroups require the union of the requirements of their
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* component commands.
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*/
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class ParallelRaceGroup
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: public CommandHelper<CommandGroupBase, ParallelRaceGroup> {
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public:
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/**
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* Creates a new ParallelCommandRace. The given commands will be executed
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* simultaneously, and will "race to the finish" - the first command to finish
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* ends the entire command, with all other commands being interrupted.
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*
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* @param commands the commands to include in this group.
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*/
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explicit ParallelRaceGroup(std::vector<std::unique_ptr<Command>>&& commands);
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template <class... Types,
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typename = std::enable_if_t<std::conjunction_v<
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std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
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explicit ParallelRaceGroup(Types&&... commands) {
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AddCommands(std::forward<Types>(commands)...);
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}
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ParallelRaceGroup(ParallelRaceGroup&& other) = default;
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// No copy constructors for command groups
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ParallelRaceGroup(const ParallelRaceGroup&) = delete;
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// Prevent template expansion from emulating copy ctor
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ParallelRaceGroup(ParallelRaceGroup&) = delete;
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template <class... Types>
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void AddCommands(Types&&... commands) {
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std::vector<std::unique_ptr<Command>> foo;
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((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
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std::forward<Types>(commands))),
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...);
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AddCommands(std::move(foo));
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}
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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private:
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void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
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std::vector<std::unique_ptr<Command>> m_commands;
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bool m_runWhenDisabled{true};
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bool m_finished{false};
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bool isRunning = false;
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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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