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60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/Requirements.h"
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namespace frc2 {
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/**
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* A command that allows the user to pass in functions for each of the basic
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* command methods through the constructor. Useful for inline definitions of
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* complex commands - note, however, that if a command is beyond a certain
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* complexity it is usually better practice to write a proper class for it than
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* to inline it.
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*
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* This class is provided by the NewCommands VendorDep
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*/
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class FunctionalCommand : public CommandHelper<Command, FunctionalCommand> {
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public:
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/**
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* Creates a new FunctionalCommand.
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*
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* @param onInit the function to run on command initialization
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* @param onExecute the function to run on command execution
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* @param onEnd the function to run on command end
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* @param isFinished the function that determines whether the command has
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* finished
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* @param requirements the subsystems required by this command
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*/
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FunctionalCommand(std::function<void()> onInit,
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std::function<void()> onExecute,
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std::function<void(bool)> onEnd,
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std::function<bool()> isFinished,
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Requirements requirements = {});
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FunctionalCommand(FunctionalCommand&& other) = default;
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FunctionalCommand(const FunctionalCommand& other) = default;
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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private:
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std::function<void()> m_onInit;
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std::function<void()> m_onExecute;
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std::function<void(bool)> m_onEnd;
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std::function<bool()> m_isFinished;
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};
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} // namespace frc2
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