WPILibC++ 2022.2.1-1-gf3a0b5c
frc2::ConditionalCommand Class Reference

Runs one of two commands, depending on the value of the given condition when this command is initialized. More...

#include <frc2/command/ConditionalCommand.h>

Inheritance diagram for frc2::ConditionalCommand:
frc2::CommandHelper< CommandBase, ConditionalCommand > frc2::CommandBase frc2::Command wpi::Sendable wpi::SendableHelper< CommandBase >

Public Member Functions

template<class T1 , class T2 , typename = std::enable_if_t< std::is_base_of_v<Command, std::remove_reference_t<T1>>>, typename = std::enable_if_t< std::is_base_of_v<Command, std::remove_reference_t<T2>>>>
 ConditionalCommand (T1 &&onTrue, T2 &&onFalse, std::function< bool()> condition)
 Creates a new ConditionalCommand. More...
 
 ConditionalCommand (std::unique_ptr< Command > &&onTrue, std::unique_ptr< Command > &&onFalse, std::function< bool()> condition)
 Creates a new ConditionalCommand. More...
 
 ConditionalCommand (ConditionalCommand &&other)=default
 
 ConditionalCommand (const ConditionalCommand &other)=delete
 
void Initialize () override
 The initial subroutine of a command. More...
 
void Execute () override
 The main body of a command. More...
 
void End (bool interrupted) override
 The action to take when the command ends. More...
 
bool IsFinished () override
 Whether the command has finished. More...
 
bool RunsWhenDisabled () const override
 Whether the given command should run when the robot is disabled. More...
 
- Public Member Functions inherited from frc2::CommandHelper< CommandBase, ConditionalCommand >
 CommandHelper ()=default
 
- Public Member Functions inherited from frc2::CommandBase
void AddRequirements (std::initializer_list< Subsystem * > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (wpi::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)
 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
 
Commandoperator= (const Command &rhs)
 
 Command (Command &&)=default
 
Commandoperator= (Command &&)=default
 
virtual ParallelRaceGroup WithTimeout (units::second_t duration) &&
 Decorates this command with a timeout. More...
 
virtual ParallelRaceGroup WithInterrupt (std::function< bool()> condition) &&
 Decorates this command with an interrupt condition. More...
 
virtual SequentialCommandGroup BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run before this command starts. More...
 
virtual SequentialCommandGroup BeforeStarting (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&
 Decorates this command with a runnable to run before this command starts. More...
 
virtual SequentialCommandGroup AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
virtual SequentialCommandGroup AndThen (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
virtual PerpetualCommand Perpetually () &&
 Decorates this command to run perpetually, ignoring its ordinary end conditions. More...
 
virtual ProxyScheduleCommand AsProxy ()
 Decorates this command to run "by proxy" by wrapping it in a ProxyScheduleCommand. More...
 
void Schedule (bool interruptible)
 Schedules this command. More...
 
void Schedule ()
 Schedules this command, defaulting to interruptible. 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 IsGrouped () const
 Whether the command is currently grouped in a command group. More...
 
void SetGrouped (bool grouped)
 Sets whether the command is currently grouped in a command group. More...
 
- Public Member Functions inherited from wpi::Sendable
virtual ~Sendable ()=default
 
- Public Member Functions inherited from wpi::SendableHelper< CommandBase >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (std::string_view name)
 Sets the name of this Sendable object. More...
 
void SetName (std::string_view subsystem, std::string_view name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (std::string_view subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Additional Inherited Members

- Protected Member Functions inherited from frc2::CommandHelper< CommandBase, ConditionalCommand >
std::unique_ptr< CommandTransferOwnership () &&override
 
- Protected Member Functions inherited from frc2::CommandBase
 CommandBase ()
 
- Protected Member Functions inherited from wpi::SendableHelper< CommandBase >
 SendableHelper ()=default
 
void SetName (std::string_view moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (std::string_view moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
 ~SendableHelper ()
 
- Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 > m_requirements
 
- Protected Attributes inherited from frc2::Command
bool m_isGrouped = false
 

Detailed Description

Runs one of two commands, depending on the value of the given condition when this command is initialized.

Does not actually schedule the selected command

  • rather, the command is run through this command; this ensures that the command will behave as expected if used as part of a CommandGroup. Requires the requirements of both commands, again to ensure proper functioning when used in a CommandGroup. If this is undesired, consider using ScheduleCommand.

As this command contains multiple component commands within it, it is technically a command group; the command instances that are passed to it cannot be added to any other groups, or scheduled individually.

As a rule, CommandGroups require the union of the requirements of their component commands.

This class is provided by the NewCommands VendorDep

See also
ScheduleCommand

Constructor & Destructor Documentation

◆ ConditionalCommand() [1/4]

template<class T1 , class T2 , typename = std::enable_if_t< std::is_base_of_v<Command, std::remove_reference_t<T1>>>, typename = std::enable_if_t< std::is_base_of_v<Command, std::remove_reference_t<T2>>>>
frc2::ConditionalCommand::ConditionalCommand ( T1 &&  onTrue,
T2 &&  onFalse,
std::function< bool()>  condition 
)
inline

Creates a new ConditionalCommand.

Parameters
onTruethe command to run if the condition is true
onFalsethe command to run if the condition is false
conditionthe condition to determine which command to run

◆ ConditionalCommand() [2/4]

frc2::ConditionalCommand::ConditionalCommand ( std::unique_ptr< Command > &&  onTrue,
std::unique_ptr< Command > &&  onFalse,
std::function< bool()>  condition 
)

Creates a new ConditionalCommand.

Parameters
onTruethe command to run if the condition is true
onFalsethe command to run if the condition is false
conditionthe condition to determine which command to run

◆ ConditionalCommand() [3/4]

frc2::ConditionalCommand::ConditionalCommand ( ConditionalCommand &&  other)
default

◆ ConditionalCommand() [4/4]

frc2::ConditionalCommand::ConditionalCommand ( const ConditionalCommand other)
delete

Member Function Documentation

◆ End()

void frc2::ConditionalCommand::End ( bool  interrupted)
overridevirtual

The action to take when the command ends.

Called when either the command finishes normally, or when it interrupted/canceled.

Parameters
interruptedwhether the command was interrupted/canceled

Reimplemented from frc2::Command.

◆ Execute()

void frc2::ConditionalCommand::Execute ( )
overridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

◆ Initialize()

void frc2::ConditionalCommand::Initialize ( )
overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

◆ IsFinished()

bool frc2::ConditionalCommand::IsFinished ( )
overridevirtual

Whether the command has finished.

Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns
whether the command has finished.

Reimplemented from frc2::Command.

◆ RunsWhenDisabled()

bool frc2::ConditionalCommand::RunsWhenDisabled ( ) const
overridevirtual

Whether the given command should run when the robot is disabled.

Override to return true if the command should run when disabled.

Returns
whether the command should run when the robot is disabled

Reimplemented from frc2::Command.


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