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1fc098e696
This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.
89 lines
2.5 KiB
C++
89 lines
2.5 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/ParallelDeadlineGroup.h"
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using namespace frc2;
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ParallelDeadlineGroup::ParallelDeadlineGroup(
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std::unique_ptr<Command>&& deadline,
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std::vector<std::unique_ptr<Command>>&& commands) {
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SetDeadline(std::move(deadline));
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AddCommands(std::move(commands));
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}
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void ParallelDeadlineGroup::Initialize() {
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for (auto& commandRunning : m_commands) {
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commandRunning.first->Initialize();
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commandRunning.second = true;
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}
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m_finished = false;
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}
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void ParallelDeadlineGroup::Execute() {
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for (auto& commandRunning : m_commands) {
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if (!commandRunning.second) {
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continue;
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}
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commandRunning.first->Execute();
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if (commandRunning.first->IsFinished()) {
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commandRunning.first->End(false);
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commandRunning.second = false;
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if (commandRunning.first.get() == m_deadline) {
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m_finished = true;
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}
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}
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}
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}
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void ParallelDeadlineGroup::End(bool interrupted) {
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for (auto& commandRunning : m_commands) {
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if (commandRunning.second) {
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commandRunning.first->End(true);
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}
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}
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}
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bool ParallelDeadlineGroup::IsFinished() {
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return m_finished;
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}
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bool ParallelDeadlineGroup::RunsWhenDisabled() const {
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return m_runWhenDisabled;
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}
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void ParallelDeadlineGroup::AddCommands(
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std::vector<std::unique_ptr<Command>>&& commands) {
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if (!RequireUngrouped(commands)) {
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return;
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}
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if (!m_finished) {
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throw FRC_MakeError(frc::err::CommandIllegalUse,
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"Commands cannot be added to a CommandGroup "
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"while the group is running");
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}
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for (auto&& command : commands) {
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if (RequirementsDisjoint(this, command.get())) {
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command->SetGrouped(true);
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AddRequirements(command->GetRequirements());
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m_runWhenDisabled &= command->RunsWhenDisabled();
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m_commands.emplace_back(std::move(command), false);
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} else {
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throw FRC_MakeError(frc::err::CommandIllegalUse,
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"Multiple commands in a parallel group cannot "
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"require the same subsystems");
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}
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}
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}
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void ParallelDeadlineGroup::SetDeadline(std::unique_ptr<Command>&& deadline) {
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m_deadline = deadline.get();
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m_deadline->SetGrouped(true);
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m_commands.emplace_back(std::move(deadline), false);
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AddRequirements(m_deadline->GetRequirements());
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m_runWhenDisabled &= m_deadline->RunsWhenDisabled();
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}
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