mirror of
https://github.com/wpilibsuite/allwpilib
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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
56 lines
1.9 KiB
C++
56 lines
1.9 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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#pragma once
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#include <functional>
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#include <initializer_list>
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#include <frc/Notifier.h>
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#include <units/units.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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namespace frc2 {
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/**
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* A command that starts a notifier to run the given runnable periodically in a
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* separate thread. Has no end condition as-is; either subclass it or use {@link
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* Command#withTimeout(double)} or
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* {@link Command#withInterrupt(BooleanSupplier)} to give it one.
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*
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* <p>WARNING: Do not use this class unless you are confident in your ability to
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* make the executed code thread-safe. If you do not know what "thread-safe"
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* means, that is a good sign that you should not use this class.
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*/
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class NotifierCommand : public CommandHelper<CommandBase, NotifierCommand> {
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public:
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/**
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* Creates a new NotifierCommand.
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*
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* @param toRun the runnable for the notifier to run
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* @param period the period at which the notifier should run
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* @param requirements the subsystems required by this command
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*/
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NotifierCommand(std::function<void()> toRun, units::second_t period,
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std::initializer_list<Subsystem*> requirements);
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NotifierCommand(NotifierCommand&& other);
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NotifierCommand(const NotifierCommand& other);
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void Initialize() override;
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void End(bool interrupted) override;
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private:
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std::function<void()> m_toRun;
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frc::Notifier m_notifier;
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units::second_t m_period;
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};
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} // namespace frc2
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