Runs one of a selection of commands, either using a selector and a key to command mapping, or a supplier that returns the command directly at runtime. More...

#include <frc2/command/SelectCommand.h>

Inheritance diagram for frc2::SelectCommand< Key >:

Public Member Functions
template<class... Types, typename = std::enable_if_t<std::conjunction_v< std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
	SelectCommand (std::function< Key()> selector, std::pair< Key, Types >... commands)
	Creates a new selectcommand. More...

	SelectCommand (std::function< Key()> selector, std::vector< std::pair< Key, std::unique_ptr< Command > > > &&commands)

	SelectCommand (const SelectCommand &other)=delete

	SelectCommand (SelectCommand &)=delete

	SelectCommand (std::function< Command *()> toRun)
	Creates a new selectcommand. More...

	SelectCommand (SelectCommand &&other)=default

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, SelectCommand< Key > >
	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

Command &	operator= (const Command &rhs)

	Command (Command &&)=default

Command &	operator= (Command &&)=default

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 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)

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

SendableHelper &	operator= (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...

Protected Member Functions
std::unique_ptr< Command >	TransferOwnership () &&override
	Transfers ownership of this command to a unique pointer. More...

Protected Member Functions inherited from frc2::CommandHelper< CommandBase, SelectCommand< Key > >
std::unique_ptr< Command >	TransferOwnership () &&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 ()

Additional Inherited Members
Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 >	m_requirements

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

Detailed Description

template<typename Key>
class frc2::SelectCommand< Key >

Runs one of a selection of commands, either using a selector and a key to command mapping, or a supplier that returns the command directly at runtime.

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 all included 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

Constructor & Destructor Documentation

◆ SelectCommand() [1/6]

template<typename Key >

template<class... Types, typename = std::enable_if_t<std::conjunction_v< std::is_base_of<Command, std::remove_reference_t<Types>>...>>>

frc2::SelectCommand< Key >::SelectCommand	(	std::function< Key()>	selector,
		std::pair< Key, Types >...	commands
	)

inlineexplicit

Creates a new selectcommand.

Parameters

commands	the map of commands to choose from
selector	the selector to determine which command to run

◆ SelectCommand() [2/6]

template<typename Key >

frc2::SelectCommand< Key >::SelectCommand	(	std::function< Key()>	selector,
		std::vector< std::pair< Key, std::unique_ptr< Command > > > &&	commands
	)

inline

◆ SelectCommand() [3/6]

template<typename Key >

frc2::SelectCommand< Key >::SelectCommand ( const SelectCommand< Key > & other )

delete

◆ SelectCommand() [4/6]

template<typename Key >

frc2::SelectCommand< Key >::SelectCommand ( SelectCommand< Key > & )

delete

◆ SelectCommand() [5/6]

template<typename Key >

frc2::SelectCommand< Key >::SelectCommand ( std::function< Command *()> toRun )

inlineexplicit

Creates a new selectcommand.

Parameters

toRun a supplier providing the command to run

◆ SelectCommand() [6/6]

template<typename Key >

frc2::SelectCommand< Key >::SelectCommand ( SelectCommand< Key > && other )

default

Member Function Documentation

◆ End()

template<typename Key >

void frc2::SelectCommand< Key >::End ( bool interrupted )

inlineoverridevirtual

The action to take when the command ends.

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

Parameters

interrupted whether the command was interrupted/canceled

Reimplemented from frc2::Command.

◆ Execute()

template<typename Key >

void frc2::SelectCommand< Key >::Execute ( )

inlineoverridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

◆ Initialize()

template<typename T >

void frc2::SelectCommand< T >::Initialize ( )

overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

◆ IsFinished()

template<typename Key >

bool frc2::SelectCommand< Key >::IsFinished ( )

inlineoverridevirtual

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()

template<typename Key >

bool frc2::SelectCommand< Key >::RunsWhenDisabled ( ) const

inlineoverridevirtual

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.

◆ TransferOwnership()

template<typename Key >

std::unique_ptr< Command > frc2::SelectCommand< Key >::TransferOwnership ( ) &&

inlineoverrideprotectedvirtual

Transfers ownership of this command to a unique pointer.

Used for decorator methods.

Implements frc2::Command.

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

frc2/command/SelectCommand.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SelectCommand() [1/6]

◆ SelectCommand() [2/6]

◆ SelectCommand() [3/6]

◆ SelectCommand() [4/6]

◆ SelectCommand() [5/6]

◆ SelectCommand() [6/6]

Member Function Documentation

◆ End()

◆ Execute()

◆ Initialize()

◆ IsFinished()

◆ RunsWhenDisabled()

◆ TransferOwnership()