mirror of
https://github.com/wpilibsuite/allwpilib
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74 lines
2.2 KiB
C++
74 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2017 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <list>
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#include <string>
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#include <vector>
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#include "Commands/Command.h"
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#include "Commands/CommandGroupEntry.h"
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namespace frc {
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/**
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* A CommandGroup is a list of commands which are executed in sequence.
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*
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* Commands in a CommandGroup are added using the AddSequential() method and are
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* called sequentially. CommandGroups are themselves Commands and can be given
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* to other CommandGroups.
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*
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* CommandGroups will carry all of the requirements of their Command
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* subcommands. Additional requirements can be specified by calling Requires()
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* normally in the constructor.
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*
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* CommandGroups can also execute commands in parallel, simply by adding them
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* using AddParallel().
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*
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* @see Command
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* @see Subsystem
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*/
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class CommandGroup : public Command {
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public:
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CommandGroup() = default;
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explicit CommandGroup(const std::string& name);
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virtual ~CommandGroup() = default;
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void AddSequential(Command* command);
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void AddSequential(Command* command, double timeout);
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void AddParallel(Command* command);
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void AddParallel(Command* command, double timeout);
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bool IsInterruptible() const;
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int GetSize() const;
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protected:
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virtual void Initialize();
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virtual void Execute();
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virtual bool IsFinished();
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virtual void End();
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virtual void Interrupted();
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virtual void _Initialize();
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virtual void _Interrupted();
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virtual void _Execute();
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virtual void _End();
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private:
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void CancelConflicts(Command* command);
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// The commands in this group (stored in entries)
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std::vector<CommandGroupEntry> m_commands;
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// The active children in this group (stored in entries)
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std::list<CommandGroupEntry> m_children;
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// The current command, -1 signifies that none have been run
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int m_currentCommandIndex = -1;
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};
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} // namespace frc
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