mirror of
https://github.com/wpilibsuite/allwpilib
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fbdc810887
* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
98 lines
2.3 KiB
C++
98 lines
2.3 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 <initializer_list>
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#include <span>
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#include <string>
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#include <string_view>
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#include <wpi/SmallSet.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc2/command/Command.h"
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namespace frc2 {
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/**
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* A Sendable base class for Commands.
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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 CommandBase : public Command,
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public wpi::Sendable,
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public wpi::SendableHelper<CommandBase> {
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public:
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/**
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* Adds the specified Subsystem requirements to the command.
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*
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* @param requirements the Subsystem requirements to add
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*/
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void AddRequirements(std::initializer_list<Subsystem*> requirements);
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/**
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* Adds the specified Subsystem requirements to the command.
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*
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* @param requirements the Subsystem requirements to add
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*/
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void AddRequirements(std::span<Subsystem* const> requirements);
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/**
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* Adds the specified Subsystem requirements to the command.
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*
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* @param requirements the Subsystem requirements to add
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*/
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void AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements);
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/**
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* Adds the specified Subsystem requirement to the command.
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*
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* @param requirement the Subsystem requirement to add
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*/
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void AddRequirements(Subsystem* requirement);
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/**
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* Gets the Subsystem requirements of the command.
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*
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* @return the Command's Subsystem requirements
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*/
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wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
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/**
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* Sets the name of this Command.
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*
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* @param name name
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*/
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void SetName(std::string_view name);
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/**
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* Gets the name of this Command.
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*
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* @return Name
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*/
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std::string GetName() const override;
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/**
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* Gets the subsystem name of this Command.
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*
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* @return Subsystem name
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*/
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std::string GetSubsystem() const;
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/**
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* Sets the subsystem name of this Command.
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*
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* @param subsystem subsystem name
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*/
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void SetSubsystem(std::string_view subsystem);
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void InitSendable(wpi::SendableBuilder& builder) override;
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protected:
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CommandBase();
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wpi::SmallSet<Subsystem*, 4> m_requirements;
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};
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} // namespace frc2
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