75 lines
2.5 KiB
C
75 lines
2.5 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2016. 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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#ifndef __COMMAND_GROUP_H__
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#define __COMMAND_GROUP_H__
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#include "Commands/Command.h"
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#include "Commands/CommandGroupEntry.h"
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#include <list>
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#include <vector>
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/**
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* A {@link CommandGroup} is a list of commands which are executed in sequence.
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*
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* <p>Commands in a {@link CommandGroup} are added using the {@link
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* CommandGroup#AddSequential(Command) AddSequential(...)} method
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* and are called sequentially.
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* {@link CommandGroup CommandGroups} are themselves {@link Command Commands}
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* and can be given to other {@link CommandGroup CommandGroups}.</p>
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*
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* <p>{@link CommandGroup CommandGroups} will carry all of the requirements of
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* their {@link Command subcommands}. Additional
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* requirements can be specified by calling {@link
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*CommandGroup#Requires(Subsystem) Requires(...)}
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* normally in the constructor.</P>
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*
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* <p>CommandGroups can also execute commands in parallel, simply by adding them
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* using {@link CommandGroup#AddParallel(Command) AddParallel(...)}.</p>
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*
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* @see Command
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* @see Subsystem
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*/
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class CommandGroup : public Command {
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public:
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CommandGroup() = default;
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CommandGroup(const std::string &name);
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virtual ~CommandGroup() = default;
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void AddSequential(Command *command);
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void AddSequential(Command *command, double timeout);
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void AddParallel(Command *command);
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void AddParallel(Command *command, double timeout);
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bool IsInterruptible() const;
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int GetSize() const;
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protected:
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virtual void Initialize();
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virtual void Execute();
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virtual bool IsFinished();
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virtual void End();
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virtual void Interrupted();
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virtual void _Initialize();
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virtual void _Interrupted();
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virtual void _Execute();
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virtual void _End();
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private:
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void CancelConflicts(Command *command);
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/** The commands in this group (stored in entries) */
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std::vector<CommandGroupEntry> m_commands;
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/** The active children in this group (stored in entries) */
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std::list<CommandGroupEntry> m_children;
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/** The current command, -1 signifies that none have been run */
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int m_currentCommandIndex = -1;
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};
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#endif
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