mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +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
50 lines
1.8 KiB
C++
50 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <functional>
|
|
#include <initializer_list>
|
|
|
|
#include "frc2/command/CommandBase.h"
|
|
#include "frc2/command/CommandHelper.h"
|
|
|
|
namespace frc2 {
|
|
/**
|
|
* A command that runs a given runnable when it is initalized, and another
|
|
* runnable when it ends. Useful for running and then stopping a motor, or
|
|
* extending and then retracting a solenoid. Has no end condition as-is; either
|
|
* subclass it or use Command.WithTimeout() or Command.WithInterrupt() to give
|
|
* it one.
|
|
*/
|
|
class StartEndCommand : public CommandHelper<CommandBase, StartEndCommand> {
|
|
public:
|
|
/**
|
|
* Creates a new StartEndCommand. Will run the given runnables when the
|
|
* command starts and when it ends.
|
|
*
|
|
* @param onInit the Runnable to run on command init
|
|
* @param onEnd the Runnable to run on command end
|
|
* @param requirements the subsystems required by this command
|
|
*/
|
|
StartEndCommand(std::function<void()> onInit, std::function<void()> onEnd,
|
|
std::initializer_list<Subsystem*> requirements);
|
|
|
|
StartEndCommand(StartEndCommand&& other) = default;
|
|
|
|
StartEndCommand(const StartEndCommand& other);
|
|
|
|
void Initialize() override;
|
|
|
|
void End(bool interrupted) override;
|
|
|
|
protected:
|
|
std::function<void()> m_onInit;
|
|
std::function<void()> m_onEnd;
|
|
};
|
|
} // namespace frc2
|