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https://github.com/wpilibsuite/allwpilib
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d11a3a6380
Add NOLINT to CommandTestBase due to gmock not adding "override" keyword, which causes warnings on clang.
82 lines
2.4 KiB
C++
82 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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#include <wpi/Twine.h>
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#include "frc/commands/Command.h"
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namespace frc {
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/**
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* A ConditionalCommand is a Command that starts one of two commands.
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*
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* A ConditionalCommand uses the Condition method to determine whether it should
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* run onTrue or onFalse.
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*
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* A ConditionalCommand adds the proper Command to the Scheduler during
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* Initialize() and then IsFinished() will return true once that Command has
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* finished executing.
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*
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* If no Command is specified for onFalse, the occurrence of that condition
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* will be a no-op.
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*
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* A ConditionalCommand will require the superset of subsystems of the onTrue
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* and onFalse commands.
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*
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* @see Command
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* @see Scheduler
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*/
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class ConditionalCommand : public Command {
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public:
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/**
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* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
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*
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* @param onTrue The Command to execute if Condition() returns true
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* @param onFalse The Command to execute if Condition() returns false
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*/
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explicit ConditionalCommand(Command* onTrue, Command* onFalse = nullptr);
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/**
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* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
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*
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* @param name The name for this command group
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* @param onTrue The Command to execute if Condition() returns true
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* @param onFalse The Command to execute if Condition() returns false
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*/
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ConditionalCommand(const wpi::Twine& name, Command* onTrue,
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Command* onFalse = nullptr);
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~ConditionalCommand() override = default;
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ConditionalCommand(ConditionalCommand&&) = default;
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ConditionalCommand& operator=(ConditionalCommand&&) = default;
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protected:
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/**
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* The Condition to test to determine which Command to run.
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*
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* @return true if m_onTrue should be run or false if m_onFalse should be run.
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*/
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virtual bool Condition() = 0;
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void _Initialize() override;
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void _Cancel() override;
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bool IsFinished() override;
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void _Interrupted() override;
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private:
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// The Command to execute if Condition() returns true
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Command* m_onTrue;
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// The Command to execute if Condition() returns false
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Command* m_onFalse;
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// Stores command chosen by condition
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Command* m_chosenCommand = nullptr;
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};
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} // namespace frc
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