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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).
108 lines
3.6 KiB
C++
108 lines
3.6 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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#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 only when a
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* specific command (the "deadline") ends, interrupting all other commands that
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* are still running at that point.
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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 ParallelDeadlineGroup
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: public CommandHelper<CommandGroupBase, 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 CommandGroup will finish
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* when the deadline finishes, interrupting all other still-running commands.
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* If the CommandGroup 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 group 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 CommandGroup will finish
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* when the deadline finishes, interrupting all other still-running commands.
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* If the CommandGroup 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 group ends
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* @param commands the commands to be executed
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*/
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template <class T, class... Types,
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typename = std::enable_if_t<
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std::is_base_of_v<Command, std::remove_reference_t<T>>>,
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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 ParallelDeadlineGroup(T&& deadline, Types&&... commands) {
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SetDeadline(std::make_unique<std::remove_reference_t<T>>(
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std::forward<T>(deadline)));
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AddCommands(std::forward<Types>(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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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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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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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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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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