A Sendable base class for Commands. More...

#include <frc2/command/CommandBase.h>

Inheritance diagram for frc2::CommandBase:

Public Member Functions
void	AddRequirements (std::initializer_list< Subsystem * > requirements)
	Adds the specified Subsystem requirements to the command. More...

void	AddRequirements (std::span< Subsystem *const > requirements)
	Adds the specified Subsystem requirements to the command. More...

void	AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements)
	Adds the specified Subsystem requirements to the command. More...

void	AddRequirements (Subsystem *requirement)
	Adds the specified Subsystem requirement to the command. More...

wpi::SmallSet< Subsystem *, 4 >	GetRequirements () const override
	Gets the Subsystem requirements of the command. More...

void	SetName (std::string_view name) override
	Sets the name of this Command. More...

std::string	GetName () const override
	Gets the name of this Command. More...

std::string	GetSubsystem () const
	Gets the subsystem name of this Command. More...

void	SetSubsystem (std::string_view subsystem)
	Sets the subsystem name of this Command. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from frc2::Command
	Command ()=default

virtual	~Command ()

	Command (const Command &)=default

Command &	operator= (const Command &rhs)

	Command (Command &&)=default

Command &	operator= (Command &&)=default

virtual void	Initialize ()
	The initial subroutine of a command. More...

virtual void	Execute ()
	The main body of a command. More...

virtual void	End (bool interrupted)
	The action to take when the command ends. More...

virtual bool	IsFinished ()
	Whether the command has finished. More...

virtual wpi::SmallSet< Subsystem *, 4 >	GetRequirements () const =0
	Specifies the set of subsystems used by this command. More...

CommandPtr	WithTimeout (units::second_t duration) &&
	Decorates this command with a timeout. More...

CommandPtr	Until (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. More...

CommandPtr	OnlyWhile (std::function< bool()> condition) &&
	Decorates this command with a run condition. More...

CommandPtr	BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run before this command starts. More...

CommandPtr	BeforeStarting (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run before this command starts. More...

CommandPtr	AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run after the command finishes. More...

CommandPtr	AndThen (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run after the command finishes. More...

CommandPtr	Repeatedly () &&
	Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted. More...

CommandPtr	AsProxy () &&
	Decorates this command to run "by proxy" by wrapping it in a ProxyCommand. More...

CommandPtr	Unless (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is not met. More...

CommandPtr	OnlyIf (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is met. More...

CommandPtr	IgnoringDisable (bool doesRunWhenDisabled) &&
	Decorates this command to run or stop when disabled. More...

CommandPtr	WithInterruptBehavior (Command::InterruptionBehavior interruptBehavior) &&
	Decorates this command to have a different interrupt behavior. More...

CommandPtr	FinallyDo (std::function< void(bool)> end) &&
	Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method. More...

CommandPtr	HandleInterrupt (std::function< void()> handler) &&
	Decorates this command with a lambda to call on interrupt, following the command's inherent Command::End(bool) method. More...

CommandPtr	WithName (std::string_view name) &&
	Decorates this Command with a name. More...

void	Schedule ()
	Schedules this command. More...

void	Cancel ()
	Cancels this command. More...

bool	IsScheduled () const
	Whether or not the command is currently scheduled. More...

bool	HasRequirement (Subsystem *requirement) const
	Whether the command requires a given subsystem. More...

bool	IsComposed () const
	Whether the command is currently grouped in a command group. More...

void	SetComposed (bool isComposed)
	Sets whether the command is currently composed in a command composition. More...

virtual bool	RunsWhenDisabled () const
	Whether the given command should run when the robot is disabled. More...

virtual InterruptionBehavior	GetInterruptionBehavior () const
	How the command behaves when another command with a shared requirement is scheduled. More...

virtual std::string	GetName () const
	Gets the name of this Command. More...

virtual void	SetName (std::string_view name)
	Sets the name of this Command. More...

virtual CommandPtr	ToPtr () &&=0
	Transfers ownership of this command to a unique pointer. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Protected Member Functions
	CommandBase ()

Protected Member Functions inherited from frc2::Command
virtual std::unique_ptr< Command >	TransferOwnership () &&=0
	Transfers ownership of this command to a unique pointer. More...

Protected Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper ()=default

	~SendableHelper ()

Protected Attributes
wpi::SmallSet< Subsystem *, 4 >	m_requirements

Protected Attributes inherited from frc2::Command
bool	m_isComposed = false

Additional Inherited Members
Public Types inherited from frc2::Command
enum class	InterruptionBehavior { kCancelSelf , kCancelIncoming }
	An enum describing the command's behavior when another command with a shared requirement is scheduled. More...

Detailed Description

A Sendable base class for Commands.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ CommandBase()

frc2::CommandBase::CommandBase ( )

protected

Member Function Documentation

◆ AddRequirements() [1/4]

void frc2::CommandBase::AddRequirements ( std::initializer_list< Subsystem * > requirements )

Adds the specified Subsystem requirements to the command.

The scheduler will prevent two commands that require the same subsystem from being scheduled simultaneously.

Note that the scheduler determines the requirements of a command when it is scheduled, so this method should normally be called from the command's constructor.

Parameters

requirements the Subsystem requirements to add

◆ AddRequirements() [2/4]

void frc2::CommandBase::AddRequirements ( std::span< Subsystem *const > requirements )

Adds the specified Subsystem requirements to the command.

The scheduler will prevent two commands that require the same subsystem from being scheduled simultaneously.

Note that the scheduler determines the requirements of a command when it is scheduled, so this method should normally be called from the command's constructor.

Parameters

requirements the Subsystem requirements to add

◆ AddRequirements() [3/4]

void frc2::CommandBase::AddRequirements ( Subsystem * requirement )

Adds the specified Subsystem requirement to the command.

The scheduler will prevent two commands that require the same subsystem from being scheduled simultaneously.

Note that the scheduler determines the requirements of a command when it is scheduled, so this method should normally be called from the command's constructor.

Parameters

requirement the Subsystem requirement to add

◆ AddRequirements() [4/4]

void frc2::CommandBase::AddRequirements ( wpi::SmallSet< Subsystem *, 4 > requirements )

Adds the specified Subsystem requirements to the command.

The scheduler will prevent two commands that require the same subsystem from being scheduled simultaneously.

Note that the scheduler determines the requirements of a command when it is scheduled, so this method should normally be called from the command's constructor.

Parameters

requirements the Subsystem requirements to add

◆ GetName()

std::string frc2::CommandBase::GetName ( ) const

overridevirtual

Gets the name of this Command.

Returns: Name

Reimplemented from frc2::Command.

◆ GetRequirements()

wpi::SmallSet< Subsystem *, 4 > frc2::CommandBase::GetRequirements ( ) const

overridevirtual

Gets the Subsystem requirements of the command.

Returns: the Command's Subsystem requirements

Implements frc2::Command.

◆ GetSubsystem()

std::string frc2::CommandBase::GetSubsystem ( ) const

Gets the subsystem name of this Command.

Returns: Subsystem name

◆ InitSendable()

void frc2::CommandBase::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ SetName()

void frc2::CommandBase::SetName ( std::string_view name )

overridevirtual

Sets the name of this Command.

Parameters

name name

Reimplemented from frc2::Command.

◆ SetSubsystem()

void frc2::CommandBase::SetSubsystem ( std::string_view subsystem )

Sets the subsystem name of this Command.

Parameters

subsystem subsystem name

Member Data Documentation

◆ m_requirements

wpi::SmallSet<Subsystem*, 4> frc2::CommandBase::m_requirements

protected

The documentation for this class was generated from the following file:

frc2/command/CommandBase.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CommandBase()

Member Function Documentation

◆ AddRequirements() [1/4]

◆ AddRequirements() [2/4]

◆ AddRequirements() [3/4]

◆ AddRequirements() [4/4]

◆ GetName()

◆ GetRequirements()

◆ GetSubsystem()

◆ InitSendable()

◆ SetName()

◆ SetSubsystem()

Member Data Documentation

◆ m_requirements