Commands/CommandGroup.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __COMMAND_GROUP_H__
#define __COMMAND_GROUP_H__

#include "Commands/Command.h"
#include "Commands/CommandGroupEntry.h"
#include <list>
#include <vector>

class CommandGroup : public Command
{
public:
        CommandGroup();
        CommandGroup(const char *name);
        virtual ~CommandGroup();
        
        void AddSequential(Command *command);
        void AddSequential(Command *command, double timeout);
        void AddParallel(Command *command);
        void AddParallel(Command *command, double timeout);
        bool IsInterruptible();
        int GetSize();

protected:
        virtual void Initialize();
        virtual void Execute();
        virtual bool IsFinished();
        virtual void End();
        virtual void Interrupted();
        virtual void _Initialize();
        virtual void _Interrupted();
        virtual void _Execute();
        virtual void _End();

private:
        void CancelConflicts(Command *command);

        typedef std::vector<CommandGroupEntry> CommandVector;
        CommandVector m_commands;
        typedef std::list<CommandGroupEntry> CommandList;
        CommandList m_children;
        int m_currentCommandIndex;
};

#endif