A wrapper around std::unique_ptr<Command> so commands have move-only semantics. More...

#include <frc2/command/CommandPtr.h>

Public Member Functions
	CommandPtr (std::unique_ptr< CommandBase > &&command)

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
	CommandPtr (T &&command)

	CommandPtr (CommandPtr &&)=default

CommandPtr &	operator= (CommandPtr &&)=default

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

CommandPtr	WithInterruptBehavior (Command::InterruptionBehavior interruptBehavior) &&
	Decorates this command to run or stop when disabled. 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	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 (CommandPtr &&next) &&
	Decorates this command with a set of commands to run after it in sequence. 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	BeforeStarting (CommandPtr &&before) &&
	Decorates this command with another command to run before this command starts. 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	Unless (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is not met. More...

CommandPtr	DeadlineWith (CommandPtr &&parallel) &&
	Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others. More...

CommandPtr	AlongWith (CommandPtr &&parallel) &&
	Decorates this command with a set of commands to run parallel to it, ending when the last command ends. More...

CommandPtr	RaceWith (CommandPtr &&parallel) &&
	Decorates this command with a set of commands to run parallel to it, ending when the first command ends. 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...

CommandBase *	get () const &
	Get a raw pointer to the held command. More...

CommandBase *	get () &&=delete

std::unique_ptr< CommandBase >	Unwrap () &&
	Convert to the underlying unique_ptr. More...

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

void	Schedule () &&=delete

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

void	Cancel () &&=delete

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

void	IsScheduled () &&=delete

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

void	HasRequirement (Subsystem *requirement) &&=delete

	operator bool () const &
	Check if this CommandPtr object is valid and wasn't moved-from. More...

	operator bool () &&=delete

Static Public Member Functions
static std::vector< std::unique_ptr< Command > >	UnwrapVector (std::vector< CommandPtr > &&vec)
	Convert a vector of CommandPtr objects to their underlying unique_ptrs. More...

Detailed Description

A wrapper around std::unique_ptr<Command> so commands have move-only semantics.

Commands should only be stored and passed around when held in a CommandPtr instance. For more info, see https://github.com/wpilibsuite/allwpilib/issues/4303.

Various classes in the command-based library accept a std::unique_ptr<Command>, use CommandPtr::Unwrap to convert. CommandPtr::UnwrapVector does the same for vectors.

Constructor & Destructor Documentation

◆ CommandPtr() [1/3]

frc2::CommandPtr::CommandPtr ( std::unique_ptr< CommandBase > && command )

inlineexplicit

◆ CommandPtr() [2/3]

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>

frc2::CommandPtr::CommandPtr ( T && command )

inlineexplicit

◆ CommandPtr() [3/3]

frc2::CommandPtr::CommandPtr ( CommandPtr && )

default

Member Function Documentation

◆ AlongWith()

CommandPtr frc2::CommandPtr::AlongWith ( CommandPtr && parallel ) &&

Decorates this command with a set of commands to run parallel to it, ending when the last command ends.

Often more convenient/less-verbose than constructing a new ParallelCommandGroup explicitly.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ AndThen() [1/3]

CommandPtr frc2::CommandPtr::AndThen ( CommandPtr && next ) &&

Decorates this command with a set of commands to run after it in sequence.

Often more convenient/less-verbose than constructing a new SequentialCommandGroup explicitly.

Parameters

next	the commands to run next

Returns: the decorated command

◆ AndThen() [2/3]

CommandPtr frc2::CommandPtr::AndThen	(	std::function< void()>	toRun,
		std::initializer_list< Subsystem * >	requirements
	)		&&

Decorates this command with a runnable to run after the command finishes.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ AndThen() [3/3]

CommandPtr frc2::CommandPtr::AndThen	(	std::function< void()>	toRun,
		std::span< Subsystem *const >	requirements = `{}`
	)		&&

Decorates this command with a runnable to run after the command finishes.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ AsProxy()

CommandPtr frc2::CommandPtr::AsProxy ( ) &&

Decorates this command to run "by proxy" by wrapping it in a ProxyCommand.

This is useful for "forking off" from command groups when the user does not wish to extend the command's requirements to the entire command group.

Returns: the decorated command

◆ BeforeStarting() [1/3]

CommandPtr frc2::CommandPtr::BeforeStarting ( CommandPtr && before ) &&

Decorates this command with another command to run before this command starts.

Parameters

before the command to run before this one

Returns: the decorated command

◆ BeforeStarting() [2/3]

CommandPtr frc2::CommandPtr::BeforeStarting	(	std::function< void()>	toRun,
		std::initializer_list< Subsystem * >	requirements
	)		&&

Decorates this command with a runnable to run before this command starts.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ BeforeStarting() [3/3]

CommandPtr frc2::CommandPtr::BeforeStarting	(	std::function< void()>	toRun,
		std::span< Subsystem *const >	requirements = `{}`
	)		&&

Decorates this command with a runnable to run before this command starts.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ Cancel() [1/2]

void frc2::CommandPtr::Cancel ( ) &&

delete

◆ Cancel() [2/2]

void frc2::CommandPtr::Cancel ( ) const &

Cancels this command.

Will call End(true). Commands will be canceled regardless of interruption behavior.

◆ DeadlineWith()

CommandPtr frc2::CommandPtr::DeadlineWith ( CommandPtr && parallel ) &&

Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.

Often more convenient/less-verbose than constructing a new ParallelDeadlineGroup explicitly.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ FinallyDo()

CommandPtr frc2::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.

Parameters

end	a lambda accepting a boolean parameter specifying whether the command was interrupted.

Returns: the decorated command

◆ get() [1/2]

CommandBase * frc2::CommandPtr::get ( ) &&

delete

◆ get() [2/2]

CommandBase * frc2::CommandPtr::get ( ) const &

Get a raw pointer to the held command.

◆ HandleInterrupt()

CommandPtr frc2::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.

Parameters

handler a lambda to run when the command is interrupted

Returns: the decorated command

◆ HasRequirement() [1/2]

void frc2::CommandPtr::HasRequirement ( Subsystem * requirement ) &&

delete

◆ HasRequirement() [2/2]

bool frc2::CommandPtr::HasRequirement ( Subsystem * requirement ) const &

Whether the command requires a given subsystem.

Named "HasRequirement" rather than "requires" to avoid confusion with Command::Requires(Subsystem) – this may be able to be changed in a few years.

Parameters

requirement the subsystem to inquire about

Returns: whether the subsystem is required

◆ IgnoringDisable()

CommandPtr frc2::CommandPtr::IgnoringDisable ( bool doesRunWhenDisabled ) &&

Decorates this command to run or stop when disabled.

Parameters

doesRunWhenDisabled true to run when disabled.

Returns: the decorated command

◆ IsScheduled() [1/2]

void frc2::CommandPtr::IsScheduled ( ) &&

delete

◆ IsScheduled() [2/2]

bool frc2::CommandPtr::IsScheduled ( ) const &

Whether or not the command is currently scheduled.

Note that this does not detect whether the command is in a composition, only whether it is directly being run by the scheduler.

Returns: Whether the command is scheduled.

◆ operator bool() [1/2]

frc2::CommandPtr::operator bool ( ) &&

explicitdelete

◆ operator bool() [2/2]

frc2::CommandPtr::operator bool ( ) const &

explicit

Check if this CommandPtr object is valid and wasn't moved-from.

◆ operator=()

CommandPtr & frc2::CommandPtr::operator= ( CommandPtr && )

default

◆ RaceWith()

CommandPtr frc2::CommandPtr::RaceWith ( CommandPtr && parallel ) &&

Decorates this command with a set of commands to run parallel to it, ending when the first command ends.

Often more convenient/less-verbose than constructing a new ParallelRaceGroup explicitly.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ Repeatedly()

CommandPtr frc2::CommandPtr::Repeatedly ( ) &&

Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted.

The decorated command can still be canceled.

Returns: the decorated command

◆ Schedule() [1/2]

void frc2::CommandPtr::Schedule ( ) &&

delete

◆ Schedule() [2/2]

void frc2::CommandPtr::Schedule ( ) const &

Schedules this command.

◆ Unless()

CommandPtr frc2::CommandPtr::Unless ( std::function< bool()> condition ) &&

Decorates this command to only run if this condition is not met.

If the command is already running and the condition changes to true, the command will not stop running. The requirements of this command will be kept for the new conditional command.

Parameters

condition the condition that will prevent the command from running

Returns: the decorated command

◆ Until()

CommandPtr frc2::CommandPtr::Until ( std::function< bool()> condition ) &&

Decorates this command with an interrupt condition.

If the specified condition becomes true before the command finishes normally, the command will be interrupted and un-scheduled. Note that this only applies to the command returned by this method; the calling command is not itself changed.

Parameters

condition the interrupt condition

Returns: the command with the interrupt condition added

◆ Unwrap()

std::unique_ptr< CommandBase > frc2::CommandPtr::Unwrap ( ) &&

Convert to the underlying unique_ptr.

◆ UnwrapVector()

static std::vector< std::unique_ptr< Command > > frc2::CommandPtr::UnwrapVector ( std::vector< CommandPtr > && vec )

static

Convert a vector of CommandPtr objects to their underlying unique_ptrs.

◆ WithInterruptBehavior()

CommandPtr frc2::CommandPtr::WithInterruptBehavior ( Command::InterruptionBehavior interruptBehavior ) &&

Decorates this command to run or stop when disabled.

Parameters

interruptBehavior true to run when disabled.

Returns: the decorated command

◆ WithName()

CommandPtr frc2::CommandPtr::WithName ( std::string_view name ) &&

Decorates this Command with a name.

Is an inline function for Command::SetName(std::string_view);

Parameters

name name

Returns: the decorated Command

◆ WithTimeout()

CommandPtr frc2::CommandPtr::WithTimeout ( units::second_t duration ) &&

Decorates this command with a timeout.

If the specified timeout is exceeded before the command finishes normally, the command will be interrupted and un-scheduled. Note that the timeout only applies to the command returned by this method; the calling command is not itself changed.

Parameters

duration the timeout duration

Returns: the command with the timeout added

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

frc2/command/CommandPtr.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CommandPtr() [1/3]

◆ CommandPtr() [2/3]

◆ CommandPtr() [3/3]

Member Function Documentation

◆ AlongWith()

◆ AndThen() [1/3]

◆ AndThen() [2/3]

◆ AndThen() [3/3]

◆ AsProxy()

◆ BeforeStarting() [1/3]

◆ BeforeStarting() [2/3]

◆ BeforeStarting() [3/3]

◆ Cancel() [1/2]

◆ Cancel() [2/2]

◆ DeadlineWith()

◆ FinallyDo()

◆ get() [1/2]

◆ get() [2/2]

◆ HandleInterrupt()

◆ HasRequirement() [1/2]

◆ HasRequirement() [2/2]

◆ IgnoringDisable()

◆ IsScheduled() [1/2]

◆ IsScheduled() [2/2]

◆ operator bool() [1/2]

◆ operator bool() [2/2]

◆ operator=()

◆ RaceWith()

◆ Repeatedly()

◆ Schedule() [1/2]

◆ Schedule() [2/2]

◆ Unless()

◆ Until()

◆ Unwrap()

◆ UnwrapVector()

◆ WithInterruptBehavior()

◆ WithName()

◆ WithTimeout()