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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
48 lines
1.5 KiB
C++
48 lines
1.5 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 <wpi/ArrayRef.h>
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#include <wpi/SmallVector.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/SetUtilities.h"
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namespace frc2 {
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/**
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* Schedules the given commands when this command is initialized. Useful for
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* forking off from CommandGroups. Note that if run from a CommandGroup, the
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* group will not know about the status of the scheduled commands, and will
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* treat this command as finishing instantly.
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*/
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class ScheduleCommand : public CommandHelper<CommandBase, ScheduleCommand> {
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public:
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/**
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* Creates a new ScheduleCommand that schedules the given commands when
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* initialized.
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*
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* @param toSchedule the commands to schedule
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*/
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explicit ScheduleCommand(wpi::ArrayRef<Command*> toSchedule);
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ScheduleCommand(ScheduleCommand&& other) = default;
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ScheduleCommand(const ScheduleCommand& other) = default;
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void Initialize() override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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private:
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wpi::SmallVector<Command*, 4> m_toSchedule;
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};
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} // namespace frc2
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