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WPILib 2012
WPILibRoboticsLibraryforFRC
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WPILib 2012
WPILibRoboticsLibraryforFRC
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#include <CommandGroup.h>
Public Member Functions | |
| CommandGroup () | |
| CommandGroup (const char *name) | |
| 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 Member Functions | |
| 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 () |
A CommandGroup is a list of commands which are executed in sequence.
Commands in a CommandGroup are added using the AddSequential(...) method and are called sequentially. CommandGroups are themselves Commands and can be given to other CommandGroups.
CommandGroups will carry all of the requirements of their subcommands. Additional requirements can be specified by calling Requires(...) normally in the constructor.
CommandGroups can also execute commands in parallel, simply by adding them using AddParallel(...).
| CommandGroup::CommandGroup | ( | ) |
Creates a new CommandGroup.
| CommandGroup::CommandGroup | ( | const char * | name | ) |
Creates a new CommandGroup with the given name.
| name | the name for this command group |
| void CommandGroup::AddParallel | ( | Command * | command, |
| double | timeout | ||
| ) |
Adds a new child Command to the group with the given timeout. The Command will be started after all the previously added Commands.
Once the Command is started, it will run until it finishes, is interrupted, or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.
Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, the timeout expires, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
| command | The command to be added |
| timeout | The timeout (in seconds) |
| void CommandGroup::AddParallel | ( | Command * | command | ) |
Adds a new child Command to the group. The Command will be started after all the previously added Commands.
Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
| command | The command to be added |
| void CommandGroup::AddSequential | ( | Command * | command, |
| double | timeout | ||
| ) |
Adds a new Command to the group with a given timeout. The Command will be started after all the previously added commands.
Once the Command is started, it will be run until it finishes or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
| command | The Command to be added |
| timeout | The timeout (in seconds) |
| void CommandGroup::AddSequential | ( | Command * | command | ) |
Adds a new Command to the group. The Command will be started after all the previously added Commands.
Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.
It is recommended that this method be called in the constructor.
| command | The Command to be added |
| void CommandGroup::End | ( | ) | [protected, 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.
Implements Command.
| void CommandGroup::Execute | ( | ) | [protected, virtual] |
| void CommandGroup::Initialize | ( | ) | [protected, virtual] |
| void CommandGroup::Interrupted | ( | ) | [protected, 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
Implements Command.
| bool CommandGroup::IsFinished | ( | ) | [protected, 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.
Implements Command.
| bool CommandGroup::IsInterruptible | ( | ) |
Returns whether or not this command can be interrupted.
Reimplemented from Command.
1.7.4
