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>
65 lines
1.8 KiB
C++
65 lines
1.8 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 <memory>
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#include <span>
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#include <wpi/SmallVector.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/SetUtilities.h"
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namespace frc2 {
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/**
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* Schedules the given commands when this command is initialized, and ends when
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* all the commands are no longer scheduled. Useful for forking off from
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* CommandGroups. If this command is interrupted, it will cancel all of the
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* 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 ProxyScheduleCommand
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: public CommandHelper<CommandBase, ProxyScheduleCommand> {
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public:
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/**
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* Creates a new ProxyScheduleCommand that schedules the given commands when
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* initialized, and ends when they are all no longer scheduled.
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*
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* @param toSchedule the commands to schedule
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*/
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explicit ProxyScheduleCommand(std::span<Command* const> toSchedule);
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explicit ProxyScheduleCommand(Command* toSchedule);
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/**
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* Creates a new ProxyScheduleCommand that schedules the given command when
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* initialized, and ends when it is no longer scheduled.
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*
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* <p>Note that this constructor passes ownership of the given command to the
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* returned ProxyScheduleCommand.
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*
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* @param toSchedule the command to schedule
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*/
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explicit ProxyScheduleCommand(std::unique_ptr<Command>&& toSchedule);
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ProxyScheduleCommand(ProxyScheduleCommand&& other) = default;
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void Initialize() override;
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void End(bool interrupted) override;
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void Execute() override;
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bool IsFinished() override;
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private:
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wpi::SmallVector<Command*, 4> m_toSchedule;
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std::unique_ptr<Command> m_owning;
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bool m_finished{false};
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};
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} // namespace frc2
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