001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj2.command;
006
007import java.util.Collections;
008import java.util.HashSet;
009import java.util.Set;
010
011/**
012 * A composition that runs a set of commands in parallel, ending when any one of the commands ends
013 * and interrupting all the others.
014 *
015 * <p>The rules for command compositions apply: command instances that are passed to it cannot be
016 * added to any other composition or scheduled individually, and the composition requires all
017 * subsystems its components require.
018 *
019 * <p>This class is provided by the NewCommands VendorDep
020 */
021@SuppressWarnings("removal")
022public class ParallelRaceGroup extends CommandGroupBase {
023  private final Set<Command> m_commands = new HashSet<>();
024  private boolean m_runWhenDisabled = true;
025  private boolean m_finished = true;
026  private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
027
028  /**
029   * Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will
030   * "race to the finish" - the first command to finish ends the entire command, with all other
031   * commands being interrupted.
032   *
033   * @param commands the commands to include in this composition.
034   */
035  public ParallelRaceGroup(Command... commands) {
036    addCommands(commands);
037  }
038
039  @Override
040  public final void addCommands(Command... commands) {
041    if (!m_finished) {
042      throw new IllegalStateException(
043          "Commands cannot be added to a composition while it's running!");
044    }
045
046    CommandScheduler.getInstance().registerComposedCommands(commands);
047
048    for (Command command : commands) {
049      if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
050        throw new IllegalArgumentException(
051            "Multiple commands in a parallel composition cannot require the same subsystems");
052      }
053      m_commands.add(command);
054      m_requirements.addAll(command.getRequirements());
055      m_runWhenDisabled &= command.runsWhenDisabled();
056      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
057        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
058      }
059    }
060  }
061
062  @Override
063  public final void initialize() {
064    m_finished = false;
065    for (Command command : m_commands) {
066      command.initialize();
067    }
068  }
069
070  @Override
071  public final void execute() {
072    for (Command command : m_commands) {
073      command.execute();
074      if (command.isFinished()) {
075        m_finished = true;
076      }
077    }
078  }
079
080  @Override
081  public final void end(boolean interrupted) {
082    for (Command command : m_commands) {
083      command.end(!command.isFinished());
084    }
085  }
086
087  @Override
088  public final boolean isFinished() {
089    return m_finished;
090  }
091
092  @Override
093  public boolean runsWhenDisabled() {
094    return m_runWhenDisabled;
095  }
096
097  @Override
098  public InterruptionBehavior getInterruptionBehavior() {
099    return m_interruptBehavior;
100  }
101}