Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/shared/include/Commands/ConditionalCommand.h b/wpilibc/shared/include/Commands/ConditionalCommand.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include "Commands/Command.h"
+#include "Commands/InstantCommand.h"
+
+namespace frc {
+
+/**
+ * A {@link ConditionalCommand} is a {@link Command} that starts one of two
+ * commands.
+ *
+ * <p>
+ * A {@link ConditionalCommand} uses m_condition to determine whether it should
+ * run m_onTrue or m_onFalse.
+ * </p>
+ *
+ * <p>
+ * A {@link ConditionalCommand} adds the proper {@link Command} to the {@link
+ * Scheduler} during {@link ConditionalCommand#initialize()} and then {@link
+ * ConditionalCommand#isFinished()} will return true once that {@link Command}
+ * has finished executing.
+ * </p>
+ *
+ * <p>
+ * If no {@link Command} is specified for m_onFalse, the occurrence of that
+ * condition will be a no-op.
+ * </p>
+ *
+ * @see Command
+ * @see Scheduler
+ */
+class ConditionalCommand : public Command {
+ public:
+ explicit ConditionalCommand(Command* onTrue,
+ Command* onFalse = new InstantCommand());
+ ConditionalCommand(const std::string& name, Command* onTrue,
+ Command* onFalse = new InstantCommand());
+ virtual ~ConditionalCommand() = default;
+
+ protected:
+ /**
+ * The Condition to test to determine which Command to run.
+ *
+ * @return true if m_onTrue should be run or false if m_onFalse should be run.
+ */
+ virtual bool Condition() = 0;
+
+ void _Initialize() override;
+ void _Cancel() override;
+ bool IsFinished() override;
+ void Interrupted() override;
+
+ private:
+ /**
+ * The Command to execute if {@link ConditionalCommand#Condition()} returns
+ * true
+ */
+ Command* m_onTrue;
+
+ /**
+ * The Command to execute if {@link ConditionalCommand#Condition()} returns
+ * false
+ */
+ Command* m_onFalse;
+
+ /**
+ * Stores command chosen by condition
+ */
+ Command* m_chosenCommand = nullptr;
+};
+
+} // namespace frc