mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
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
70 lines
2.2 KiB
C++
70 lines
2.2 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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#include "frc2/command/ParallelRaceGroup.h"
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using namespace frc2;
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ParallelRaceGroup::ParallelRaceGroup(
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std::vector<std::unique_ptr<Command>>&& commands) {
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AddCommands(std::move(commands));
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}
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void ParallelRaceGroup::Initialize() {
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for (auto& commandRunning : m_commands) {
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commandRunning->Initialize();
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}
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isRunning = true;
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}
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void ParallelRaceGroup::Execute() {
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for (auto& commandRunning : m_commands) {
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commandRunning->Execute();
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if (commandRunning->IsFinished()) {
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m_finished = true;
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}
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}
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}
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void ParallelRaceGroup::End(bool interrupted) {
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for (auto& commandRunning : m_commands) {
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commandRunning->End(!commandRunning->IsFinished());
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}
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isRunning = false;
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}
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bool ParallelRaceGroup::IsFinished() { return m_finished; }
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bool ParallelRaceGroup::RunsWhenDisabled() const { return m_runWhenDisabled; }
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void ParallelRaceGroup::AddCommands(
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std::vector<std::unique_ptr<Command>>&& commands) {
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if (!RequireUngrouped(commands)) {
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return;
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}
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if (isRunning) {
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wpi_setWPIErrorWithContext(CommandIllegalUse,
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"Commands cannot be added to a CommandGroup "
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"while the group is running");
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}
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for (auto&& command : commands) {
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if (RequirementsDisjoint(this, command.get())) {
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command->SetGrouped(true);
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AddRequirements(command->GetRequirements());
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m_runWhenDisabled &= command->RunsWhenDisabled();
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m_commands.emplace_back(std::move(command));
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} else {
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wpi_setWPIErrorWithContext(CommandIllegalUse,
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"Multiple commands in a parallel group cannot "
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"require the same subsystems");
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return;
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}
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}
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}
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