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>
54 lines
1.9 KiB
C++
54 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 <initializer_list>
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#include <span>
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/FunctionalCommand.h"
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namespace frc2 {
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/**
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* A command that runs a given runnable when it is initialized, and another
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* runnable when it ends. Useful for running and then stopping a motor, or
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* extending and then retracting a solenoid. Has no end condition as-is; either
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* subclass it or use Command.WithTimeout() or Command.Until() to give
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* it one.
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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 StartEndCommand
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: public CommandHelper<FunctionalCommand, StartEndCommand> {
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public:
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/**
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* Creates a new StartEndCommand. Will run the given runnables when the
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* command starts and when it ends.
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*
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* @param onInit the Runnable to run on command init
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* @param onEnd the Runnable to run on command end
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* @param requirements the subsystems required by this command
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*/
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StartEndCommand(std::function<void()> onInit, std::function<void()> onEnd,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Creates a new StartEndCommand. Will run the given runnables when the
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* command starts and when it ends.
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*
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* @param onInit the Runnable to run on command init
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* @param onEnd the Runnable to run on command end
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* @param requirements the subsystems required by this command
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*/
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StartEndCommand(std::function<void()> onInit, std::function<void()> onEnd,
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std::span<Subsystem* const> requirements = {});
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StartEndCommand(StartEndCommand&& other) = default;
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StartEndCommand(const StartEndCommand& other) = default;
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};
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} // namespace frc2
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