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FRC2016-old/wpilib/cpp/current/include/Commands/CommandGroup.h
2016-01-28 11:33:19 -05:00

75 lines
2.5 KiB
C++

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