mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
96 lines
2.7 KiB
C++
96 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2017. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "Commands/ConditionalCommand.h"
|
|
|
|
#include "Commands/Scheduler.h"
|
|
|
|
using namespace frc;
|
|
|
|
static void RequireAll(Command& command, Command* onTrue, Command* onFalse) {
|
|
if (onTrue != nullptr) {
|
|
for (auto requirement : onTrue->GetRequirements())
|
|
command.Requires(requirement);
|
|
}
|
|
if (onFalse != nullptr) {
|
|
for (auto requirement : onFalse->GetRequirements())
|
|
command.Requires(requirement);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
|
|
*
|
|
* @param onTrue The Command to execute if {@link
|
|
* ConditionalCommand#Condition()} returns true
|
|
* @param onFalse The Command to execute if {@link
|
|
* ConditionalCommand#Condition()} returns false
|
|
*/
|
|
ConditionalCommand::ConditionalCommand(Command* onTrue, Command* onFalse) {
|
|
m_onTrue = onTrue;
|
|
m_onFalse = onFalse;
|
|
|
|
RequireAll(*this, onTrue, onFalse);
|
|
}
|
|
|
|
/**
|
|
* Creates a new ConditionalCommand with given onTrue and onFalse Commands.
|
|
*
|
|
* @param name the name for this command group
|
|
* @param onTrue The Command to execute if {@link
|
|
* ConditionalCommand#Condition()} returns true
|
|
* @param onFalse The Command to execute if {@link
|
|
* ConditionalCommand#Condition()} returns false
|
|
*/
|
|
ConditionalCommand::ConditionalCommand(const std::string& name, Command* onTrue,
|
|
Command* onFalse)
|
|
: Command(name) {
|
|
m_onTrue = onTrue;
|
|
m_onFalse = onFalse;
|
|
|
|
RequireAll(*this, onTrue, onFalse);
|
|
}
|
|
|
|
void ConditionalCommand::_Initialize() {
|
|
if (Condition()) {
|
|
m_chosenCommand = m_onTrue;
|
|
} else {
|
|
m_chosenCommand = m_onFalse;
|
|
}
|
|
|
|
if (m_chosenCommand != nullptr) {
|
|
/*
|
|
* This is a hack to make cancelling the chosen command inside a
|
|
* CommandGroup work properly
|
|
*/
|
|
m_chosenCommand->ClearRequirements();
|
|
|
|
m_chosenCommand->Start();
|
|
}
|
|
}
|
|
|
|
void ConditionalCommand::_Cancel() {
|
|
if (m_chosenCommand != nullptr && m_chosenCommand->IsRunning()) {
|
|
m_chosenCommand->Cancel();
|
|
}
|
|
|
|
Command::_Cancel();
|
|
}
|
|
|
|
bool ConditionalCommand::IsFinished() {
|
|
return m_chosenCommand != nullptr && m_chosenCommand->IsRunning() &&
|
|
m_chosenCommand->IsFinished();
|
|
}
|
|
|
|
void ConditionalCommand::Interrupted() {
|
|
if (m_chosenCommand != nullptr && m_chosenCommand->IsRunning()) {
|
|
m_chosenCommand->Cancel();
|
|
}
|
|
|
|
Command::Interrupted();
|
|
}
|