WPILibC++
unspecified
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A CommandGroup is a list of commands which are executed in sequence. More...
#include <CommandGroup.h>
Public Member Functions | |
CommandGroup (const std::string &name) | |
Creates a new CommandGroup with the given name. More... | |
void | AddSequential (Command *command) |
Adds a new Command to the group. More... | |
void | AddSequential (Command *command, double timeout) |
Adds a new Command to the group with a given timeout. More... | |
void | AddParallel (Command *command) |
Adds a new child Command to the group. More... | |
void | AddParallel (Command *command, double timeout) |
Adds a new child Command to the group with the given timeout. More... | |
bool | IsInterruptible () const |
int | GetSize () const |
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Command () | |
Creates a new command. More... | |
Command (const std::string &name) | |
Creates a new command with the given name and no timeout. More... | |
Command (double timeout) | |
Creates a new command with the given timeout and a default name. More... | |
Command (const std::string &name, double timeout) | |
Creates a new command with the given name and timeout. More... | |
double | TimeSinceInitialized () const |
Returns the time since this command was initialized (in seconds). More... | |
void | Requires (Subsystem *s) |
This method specifies that the given Subsystem is used by this command. More... | |
bool | IsCanceled () const |
Returns whether or not this has been canceled. More... | |
void | Start () |
Starts up the command. More... | |
bool | Run () |
The run method is used internally to actually run the commands. More... | |
void | Cancel () |
This will cancel the current command. More... | |
bool | IsRunning () const |
Returns whether or not the command is running. More... | |
bool | IsInterruptible () const |
Returns whether or not this command can be interrupted. More... | |
void | SetInterruptible (bool interruptible) |
Sets whether or not this command can be interrupted. More... | |
bool | DoesRequire (Subsystem *subsystem) const |
Checks if the command requires the given Subsystem. More... | |
SubsystemSet | GetRequirements () const |
Returns the requirements (as an std::set of Subsystems pointers) of this command. More... | |
CommandGroup * | GetGroup () const |
Returns the CommandGroup that this command is a part of. More... | |
void | SetRunWhenDisabled (bool run) |
Sets whether or not this Command should run when the robot is disabled. More... | |
bool | WillRunWhenDisabled () const |
Returns whether or not this Command will run when the robot is disabled, or if it will cancel itself. More... | |
int | GetID () const |
Get the ID (sequence number) for this command. More... | |
std::string | GetName () const override |
void | InitTable (std::shared_ptr< ITable > subtable) override |
Initializes a table for this sendable object. More... | |
std::shared_ptr< ITable > | GetTable () const override |
std::string | GetSmartDashboardType () const override |
void | ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override |
Called when a key-value pair is changed in a ITable. More... | |
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ErrorBase (const ErrorBase &)=delete | |
ErrorBase & | operator= (const ErrorBase &)=delete |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () const |
virtual void | SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set error information associated with a C library call that set an error to the "errno" global variable. More... | |
virtual void | SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (const ErrorBase &rhs) const |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual bool | StatusIsFatal () const |
Check if the current error code represents a fatal error. More... | |
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virtual void | ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags) |
Extended version of ValueChanged. More... | |
Protected Member Functions | |
virtual void | Initialize () |
The initialize method is called the first time this Command is run after being started. | |
virtual void | Execute () |
The execute method is called repeatedly until this Command either finishes or is canceled. | |
virtual bool | IsFinished () |
Returns whether this command is finished. More... | |
virtual void | End () |
Called when the command ended peacefully. More... | |
virtual void | Interrupted () |
Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out. More... | |
virtual void | _Initialize () |
virtual void | _Interrupted () |
virtual void | _Execute () |
virtual void | _End () |
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void | SetTimeout (double timeout) |
Sets the timeout of this command. More... | |
bool | IsTimedOut () const |
Returns whether or not the timeSinceInitialized() method returns a number which is greater than or equal to the timeout for the command. More... | |
bool | AssertUnlocked (const std::string &message) |
If changes are locked, then this will generate a CommandIllegalUse error. More... | |
void | SetParent (CommandGroup *parent) |
Sets the parent of this command. More... | |
void | ClearRequirements () |
Clears list of subsystem requirements. More... | |
virtual void | _Cancel () |
This works like cancel(), except that it doesn't throw an exception if it is a part of a command group. More... | |
Additional Inherited Members | |
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typedef std::set< Subsystem * > | SubsystemSet |
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static void | SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static Error & | GetGlobalError () |
Retrieve the current global error. | |
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std::shared_ptr< ITable > | m_table |
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Error | m_error |
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static hal::priority_mutex | _globalErrorMutex |
static Error | _globalError |
A CommandGroup is a list of commands which are executed in sequence.
Commands in a CommandGroup are added using the AddSequential(...) method and are called sequentially. CommandGroups are themselves Commands and can be given to other CommandGroups.
CommandGroups will carry all of the requirements of their subcommands. Additional requirements can be specified by calling Requires(...) normally in the constructor.
CommandGroups can also execute commands in parallel, simply by adding them using AddParallel(...).
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explicit |
Creates a new CommandGroup with the given name.
name | the name for this command group |
void CommandGroup::AddParallel | ( | Command * | command | ) |
Adds a new child Command to the group.
The Command will be started after all the previously added Commands.
Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
command | The command to be added |
void CommandGroup::AddParallel | ( | Command * | command, |
double | timeout | ||
) |
Adds a new child Command to the group with the given timeout.
The Command will be started after all the previously added Commands.
Once the Command is started, it will run until it finishes, is interrupted, or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.
Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, the timeout expires, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
command | The command to be added |
timeout | The timeout (in seconds) |
void CommandGroup::AddSequential | ( | Command * | command | ) |
Adds a new Command to the group.
The Command will be started after all the previously added Commands.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
command | The Command to be added |
void CommandGroup::AddSequential | ( | Command * | command, |
double | timeout | ||
) |
Adds a new Command to the group with a given timeout.
The Command will be started after all the previously added commands.
Once the Command is started, it will be run until it finishes or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
command | The Command to be added |
timeout | The timeout (in seconds) |
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protectedvirtual |
Called when the command ended peacefully.
This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
Reimplemented from frc::Command.
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protectedvirtual |
Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.
This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
Generally, it is useful to simply call the end() method within this method, as done here.
Reimplemented from frc::Command.
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protectedvirtual |
Returns whether this command is finished.
If it is, then the command will be removed and end() will be called.
It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.
Returning false will result in the command never ending automatically. It may still be cancelled manually or interrupted by another command. Returning true will result in the command executing once and finishing immediately. We recommend using InstantCommand for this.
Implements frc::Command.