ConditionalCommand.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <concepts>
#include <functional>
#include <memory>
#include <utility>
 
#include "frc2/command/CommandBase.h"
#include "frc2/command/CommandHelper.h"
 
namespace frc2 {
/**
 * A command composition that runs one of two commands, depending on the value
 * of the given condition when this command is initialized.
 *
 * <p>The rules for command compositions apply: command instances that are
 * passed to it are owned by the composition and cannot be added to any other
 * composition or scheduled individually, and the composition requires all
 * subsystems its components require.
 *
 * This class is provided by the NewCommands VendorDep
 *
 * @see ScheduleCommand
 */
class ConditionalCommand
    : public CommandHelper<CommandBase, ConditionalCommand> {
 public:
  /**
   * Creates a new ConditionalCommand.
   *
   * @param onTrue    the command to run if the condition is true
   * @param onFalse   the command to run if the condition is false
   * @param condition the condition to determine which command to run
   */
  template <std::derived_from<Command> Command1,
            std::derived_from<Command> Command2>
  ConditionalCommand(Command1&& onTrue, Command2&& onFalse,
                     std::function<bool()> condition)
      : ConditionalCommand(std::make_unique<std::decay_t<Command1>>(
                               std::forward<Command1>(onTrue)),
                           std::make_unique<std::decay_t<Command2>>(
                               std::forward<Command2>(onFalse)),
                           condition) {}
 
  /**
   * Creates a new ConditionalCommand.
   *
   * @param onTrue    the command to run if the condition is true
   * @param onFalse   the command to run if the condition is false
   * @param condition the condition to determine which command to run
   */
  ConditionalCommand(std::unique_ptr<Command>&& onTrue,
                     std::unique_ptr<Command>&& onFalse,
                     std::function<bool()> condition);
 
  ConditionalCommand(ConditionalCommand&& other) = default;
 
  // No copy constructors for command groups
  ConditionalCommand(const ConditionalCommand& other) = delete;
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
  bool RunsWhenDisabled() const override;
 
  InterruptionBehavior GetInterruptionBehavior() const override;
 
  void InitSendable(wpi::SendableBuilder& builder) override;
 
 private:
  std::unique_ptr<Command> m_onTrue;
  std::unique_ptr<Command> m_onFalse;
  std::function<bool()> m_condition;
  Command* m_selectedCommand{nullptr};
  bool m_runsWhenDisabled = true;
};
}  // namespace frc2