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WPILib 2012
WPILibRoboticsLibraryforFRC
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WPILib 2012
WPILibRoboticsLibraryforFRC
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#include <Command.h>
Public Types | |
| typedef std::set< Subsystem * > | SubsystemSet |
Public Member Functions | |
| Command () | |
| Command (const char *name) | |
| Command (double timeout) | |
| Command (const char *name, double timeout) | |
| double | TimeSinceInitialized () |
| void | Requires (Subsystem *s) |
| bool | IsCanceled () |
| void | Start () |
| bool | Run () |
| void | Cancel () |
| bool | IsRunning () |
| bool | IsInterruptible () |
| void | SetInterruptible (bool interruptible) |
| bool | DoesRequire (Subsystem *subsystem) |
| SubsystemSet | GetRequirements () |
| CommandGroup * | GetGroup () |
| void | SetRunWhenDisabled (bool run) |
| bool | WillRunWhenDisabled () |
| virtual std::string | GetName () |
| virtual std::string | GetType () |
| virtual NetworkTable * | GetTable () |
| virtual void | ValueChanged (NetworkTable *table, const char *name, NetworkTables_Types type) |
| virtual void | ValueConfirmed (NetworkTable *table, const char *name, NetworkTables_Types type) |
Protected Member Functions | |
| void | SetTimeout (double timeout) |
| bool | IsTimedOut () |
| bool | AssertUnlocked (const char *message) |
| void | SetParent (CommandGroup *parent) |
| virtual void | Initialize ()=0 |
| virtual void | Execute ()=0 |
| virtual bool | IsFinished ()=0 |
| virtual void | End ()=0 |
| virtual void | Interrupted ()=0 |
| virtual void | _Initialize () |
| virtual void | _Interrupted () |
| virtual void | _Execute () |
| virtual void | _End () |
| virtual void | _Cancel () |
Friends | |
| class | CommandGroup |
| class | Scheduler |
The Command class is at the very core of the entire command framework. Every command can be started with a call to Start(). Once a command is started it will call Initialize(), and then will repeatedly call Execute() until the IsFinished() returns true. Once it does, End() will be called.
However, if at any point while it is running Cancel() is called, then the command will be stopped and Interrupted() will be called.
If a command uses a Subsystem, then it should specify that it does so by calling the Requires(...) method in its constructor. Note that a Command may have multiple requirements, and Requires(...) should be called for each one.
If a command is running and a new command with shared requirements is started, then one of two things will happen. If the active command is interruptible, then Cancel() will be called and the command will be removed to make way for the new one. If the active command is not interruptible, the other one will not even be started, and the active one will continue functioning.
| Command::Command | ( | ) |
Creates a new command. The name of this command will be default.
| Command::Command | ( | const char * | name | ) |
Creates a new command with the given name and no timeout.
| name | the name for this command |
| Command::Command | ( | double | timeout | ) |
Creates a new command with the given timeout and a default name.
| timeout | the time (in seconds) before this command "times out" |
| Command::Command | ( | const char * | name, |
| double | timeout | ||
| ) |
Creates a new command with the given name and timeout.
| name | the name of the command |
| timeout | the time (in seconds) before this command "times out" |
| void Command::_Cancel | ( | ) | [protected, virtual] |
This works like cancel(), except that it doesn't throw an exception if it is a part of a command group. Should only be called by the parent command group.
| bool Command::AssertUnlocked | ( | const char * | message | ) | [protected] |
If changes are locked, then this will generate a CommandIllegalUse error.
| message | the message to report on error (it is appended by a default message) |
| void Command::Cancel | ( | ) |
This will cancel the current command.
This will cancel the current command eventually. It can be called multiple times. And it can be called when the command is not running. If the command is running though, then the command will be marked as canceled and eventually removed.
A command can not be canceled if it is a part of a command group, you must cancel the command group instead.
| bool Command::DoesRequire | ( | Subsystem * | system | ) |
Checks if the command requires the given Subsystem.
| system | the system |
| virtual void Command::End | ( | ) | [protected, pure virtual] |
Called when the command ended peacefully. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
Implemented in CommandGroup, PrintCommand, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.
| virtual void Command::Execute | ( | ) | [protected, pure virtual] |
The execute method is called repeatedly until this Command either finishes or is canceled.
Implemented in CommandGroup, PrintCommand, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.
| CommandGroup * Command::GetGroup | ( | ) |
Returns the CommandGroup that this command is a part of. Will return null if this Command is not in a group.
| Command::SubsystemSet Command::GetRequirements | ( | ) |
Returns the requirements (as an std::set of Subsystems pointers) of this command
| virtual void Command::Initialize | ( | ) | [protected, pure virtual] |
The initialize method is called the first time this Command is run after being started.
Implemented in CommandGroup, PrintCommand, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.
| virtual void Command::Interrupted | ( | ) | [protected, pure virtual] |
Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.
This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
Generally, it is useful to simply call the end() method within this method
Implemented in CommandGroup, PrintCommand, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.
| bool Command::IsCanceled | ( | ) |
Returns whether or not this has been canceled.
| virtual bool Command::IsFinished | ( | ) | [protected, pure virtual] |
Returns whether this command is finished. If it is, then the command will be removed and end() will be called.
It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.
Implemented in CommandGroup, PrintCommand, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.
| bool Command::IsInterruptible | ( | ) |
Returns whether or not this command can be interrupted.
Reimplemented in CommandGroup.
| bool Command::IsRunning | ( | ) |
Returns whether or not the command is running. This may return true even if the command has just been canceled, as it may not have yet called Command#interrupted().
| bool Command::IsTimedOut | ( | ) | [protected] |
Returns whether or not the timeSinceInitialized() method returns a number which is greater than or equal to the timeout for the command. If there is no timeout, this will always return false.
| void Command::Requires | ( | Subsystem * | subsystem | ) |
| bool Command::Run | ( | ) |
The run method is used internally to actually run the commands.
| void Command::SetInterruptible | ( | bool | interruptible | ) |
Sets whether or not this command can be interrupted.
| interruptible | whether or not this command can be interrupted |
| void Command::SetParent | ( | CommandGroup * | parent | ) | [protected] |
Sets the parent of this command. No actual change is made to the group.
| parent | the parent |
| void Command::SetRunWhenDisabled | ( | bool | run | ) |
Sets whether or not this Command should run when the robot is disabled.
By default a command will not run when the robot is disabled, and will in fact be canceled.
| run | whether or not this command should run when the robot is disabled |
| void Command::SetTimeout | ( | double | timeout | ) | [protected] |
Sets the timeout of this command.
| timeout | the timeout (in seconds) |
| void Command::Start | ( | ) |
Starts up the command. Gets the command ready to start.
Note that the command will eventually start, however it will not necessarily do so immediately, and may in fact be canceled before initialize is even called.
| double Command::TimeSinceInitialized | ( | ) |
Returns the time since this command was initialized (in seconds). This function will work even if there is no specified timeout.
| bool Command::WillRunWhenDisabled | ( | ) |
1.7.4
