FunctionalCommand.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 <functional>
#include <initializer_list>
#include <span>
 
#include "frc2/command/CommandBase.h"
#include "frc2/command/CommandHelper.h"
 
namespace frc2 {
/**
 * A command that allows the user to pass in functions for each of the basic
 * command methods through the constructor.  Useful for inline definitions of
 * complex commands - note, however, that if a command is beyond a certain
 * complexity it is usually better practice to write a proper class for it than
 * to inline it.
 *
 * This class is provided by the NewCommands VendorDep
 */
class FunctionalCommand : public CommandHelper<CommandBase, FunctionalCommand> {
 public:
  /**
   * Creates a new FunctionalCommand.
   *
   * @param onInit       the function to run on command initialization
   * @param onExecute    the function to run on command execution
   * @param onEnd        the function to run on command end
   * @param isFinished   the function that determines whether the command has
   * finished
   * @param requirements the subsystems required by this command
   */
  FunctionalCommand(std::function<void()> onInit,
                    std::function<void()> onExecute,
                    std::function<void(bool)> onEnd,
                    std::function<bool()> isFinished,
                    std::initializer_list<Subsystem*> requirements);
 
  /**
   * Creates a new FunctionalCommand.
   *
   * @param onInit       the function to run on command initialization
   * @param onExecute    the function to run on command execution
   * @param onEnd        the function to run on command end
   * @param isFinished   the function that determines whether the command has
   * finished
   * @param requirements the subsystems required by this command
   */
  FunctionalCommand(std::function<void()> onInit,
                    std::function<void()> onExecute,
                    std::function<void(bool)> onEnd,
                    std::function<bool()> isFinished,
                    std::span<Subsystem* const> requirements = {});
 
  FunctionalCommand(FunctionalCommand&& other) = default;
 
  FunctionalCommand(const FunctionalCommand& other) = default;
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  std::function<void()> m_onInit;
  std::function<void()> m_onExecute;
  std::function<void(bool)> m_onEnd;
  std::function<bool()> m_isFinished;
};
}  // namespace frc2