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https://github.com/wpilibsuite/allwpilib
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e6f5c93ab1
- Remove use of std::set. The only place std::set was actually used was in ParallelRaceGroup, but this was of minimal utility as ParallelRaceGroup checked for duplicate subsystem requirements, so it would be very unusual to end up with duplicate commands in any case; replaced it with a vector. - Remove use of std::unordered_map except for SelectCommand. Replaced with vector. - Use pImpl idiom for CommandScheduler - Minimize include files (remove unnecessary ones) - Reformat include file order for consistency
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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 <memory>
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#include <type_traits>
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#include <utility>
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#include "frc2/command/Command.h"
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namespace frc2 {
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/**
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* CRTP implementation to allow polymorphic decorator functions in Command.
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*
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* <p>Note: ALWAYS create a subclass by extending CommandHelper<Base, Subclass>,
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* or decorators will not function!
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*/
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template <typename Base, typename CRTP,
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typename = std::enable_if_t<std::is_base_of_v<Command, Base>>>
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class CommandHelper : public Base {
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using Base::Base;
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public:
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CommandHelper() = default;
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protected:
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std::unique_ptr<Command> TransferOwnership() && override {
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return std::make_unique<CRTP>(std::move(*static_cast<CRTP*>(this)));
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}
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};
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} // namespace frc2
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