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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
51 lines
1.4 KiB
C++
51 lines
1.4 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 <frc2/Timer.h>
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#include <units/units.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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namespace frc2 {
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/**
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* A command that does nothing but takes a specified amount of time to finish.
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* Useful for CommandGroups. Can also be subclassed to make a command with an
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* internal timer.
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*/
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class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {
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public:
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/**
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* Creates a new WaitCommand. This command will do nothing, and end after the
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* specified duration.
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*
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* @param duration the time to wait
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*/
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explicit WaitCommand(units::second_t duration);
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WaitCommand(WaitCommand&& other) = default;
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WaitCommand(const WaitCommand& other) = default;
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void Initialize() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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protected:
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Timer m_timer;
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private:
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units::second_t m_duration;
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};
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} // namespace frc2
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