mirror of
https://github.com/wpilibsuite/allwpilib
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7a049c29bd
Tests and documentation for ConditionalCommand were also added. This is a fixed version of #9, so it doesn't support lambdas. Closes #9
82 lines
2.3 KiB
C++
82 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2017. 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 <string>
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#include "Commands/Command.h"
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#include "Commands/InstantCommand.h"
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namespace frc {
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/**
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* A {@link ConditionalCommand} is a {@link Command} that starts one of two
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* commands.
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*
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* <p>
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* A {@link ConditionalCommand} uses m_condition to determine whether it should
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* run m_onTrue or m_onFalse.
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* </p>
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*
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* <p>
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* A {@link ConditionalCommand} adds the proper {@link Command} to the {@link
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* Scheduler} during {@link ConditionalCommand#initialize()} and then {@link
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* ConditionalCommand#isFinished()} will return true once that {@link Command}
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* has finished executing.
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* </p>
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*
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* <p>
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* If no {@link Command} is specified for m_onFalse, the occurrence of that
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* condition will be a no-op.
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* </p>
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*
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* @see Command
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* @see Scheduler
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*/
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class ConditionalCommand : public Command {
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public:
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explicit ConditionalCommand(Command* onTrue,
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Command* onFalse = new InstantCommand());
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ConditionalCommand(const std::string& name, Command* onTrue,
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Command* onFalse = new InstantCommand());
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virtual ~ConditionalCommand() = default;
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protected:
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/**
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* The Condition to test to determine which Command to run.
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*
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* @return true if m_onTrue should be run or false if m_onFalse should be run.
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*/
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virtual bool Condition() = 0;
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void _Initialize() override;
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void _Cancel() override;
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bool IsFinished() override;
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void Interrupted() override;
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private:
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/**
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* The Command to execute if {@link ConditionalCommand#Condition()} returns
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* true
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*/
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Command* m_onTrue;
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/**
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* The Command to execute if {@link ConditionalCommand#Condition()} returns
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* false
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*/
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Command* m_onFalse;
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/**
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* Stores command chosen by condition
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*/
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Command* m_chosenCommand = nullptr;
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};
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} // namespace frc
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