WPILibC++ 2022.4.1
frc2::PerpetualCommand Class Reference

A command that runs another command in perpetuity, ignoring that command's end conditions. More...

#include <frc2/command/PerpetualCommand.h>

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

Public Member Functions

 PerpetualCommand (std::unique_ptr< Command > &&command)
 Creates a new PerpetualCommand. More...
 
template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
 PerpetualCommand (T &&command)
 Creates a new PerpetualCommand. More...
 
 PerpetualCommand (PerpetualCommand &&other)=default
 
 PerpetualCommand (const PerpetualCommand &other)=delete
 
 PerpetualCommand (PerpetualCommand &)=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...
 
PerpetualCommand Perpetually () &&override
 Decorates this command to run perpetually, ignoring its ordinary end conditions. More...
 
- Public Member Functions inherited from frc2::CommandHelper< CommandBase, PerpetualCommand >
 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 bool IsFinished ()
 Whether the command has finished. More...
 
virtual ParallelRaceGroup WithTimeout (units::second_t duration) &&
 Decorates this command with a timeout. More...
 
virtual ParallelRaceGroup Until (std::function< bool()> condition) &&
 Decorates this command with an interrupt condition. 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 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...
 
virtual bool RunsWhenDisabled () const
 Whether the given command should run when the robot is disabled. 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, PerpetualCommand >
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

A command that runs another command in perpetuity, ignoring that command's end conditions.

While this class does not extend CommandGroupBase, it is still considered a CommandGroup, as it allows one to compose another command within it; 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

Constructor & Destructor Documentation

◆ PerpetualCommand() [1/5]

frc2::PerpetualCommand::PerpetualCommand ( std::unique_ptr< Command > &&  command)
explicit

Creates a new PerpetualCommand.

Will run another command in perpetuity, ignoring that command's end conditions, unless this command itself is interrupted.

Parameters
commandthe command to run perpetually

◆ PerpetualCommand() [2/5]

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
frc2::PerpetualCommand::PerpetualCommand ( T &&  command)
inlineexplicit

Creates a new PerpetualCommand.

Will run another command in perpetuity, ignoring that command's end conditions, unless this command itself is interrupted.

Parameters
commandthe command to run perpetually

◆ PerpetualCommand() [3/5]

frc2::PerpetualCommand::PerpetualCommand ( PerpetualCommand &&  other)
default

◆ PerpetualCommand() [4/5]

frc2::PerpetualCommand::PerpetualCommand ( const PerpetualCommand other)
delete

◆ PerpetualCommand() [5/5]

frc2::PerpetualCommand::PerpetualCommand ( PerpetualCommand )
delete

Member Function Documentation

◆ End()

void frc2::PerpetualCommand::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::PerpetualCommand::Execute ( )
overridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

◆ Initialize()

void frc2::PerpetualCommand::Initialize ( )
overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

◆ Perpetually()

PerpetualCommand frc2::PerpetualCommand::Perpetually ( ) &&
overridevirtual

Decorates this command to run perpetually, ignoring its ordinary end conditions.

The decorated command can still be interrupted or canceled.

Returns
the decorated command

Reimplemented from frc2::Command.


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