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/Scheduler.h b/wpilibc/shared/include/Commands/Scheduler.h
new file mode 100644
index 0000000..eb749aa
--- /dev/null
+++ b/wpilibc/shared/include/Commands/Scheduler.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 <list>
+#include <map>
+#include <memory>
+#include <set>
+#include <string>
+#include <vector>
+
+#include "Commands/Command.h"
+#include "ErrorBase.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "SmartDashboard/NamedSendable.h"
+#include "SmartDashboard/SmartDashboard.h"
+#include "networktables/NetworkTable.h"
+
+namespace frc {
+
+class ButtonScheduler;
+class Subsystem;
+
+class Scheduler : public ErrorBase, public NamedSendable {
+ public:
+ static Scheduler* GetInstance();
+
+ void AddCommand(Command* command);
+ void AddButton(ButtonScheduler* button);
+ void RegisterSubsystem(Subsystem* subsystem);
+ void Run();
+ void Remove(Command* command);
+ void RemoveAll();
+ void ResetAll();
+ void SetEnabled(bool enabled);
+
+ void UpdateTable();
+ std::string GetSmartDashboardType() const;
+ void InitTable(std::shared_ptr<ITable> subTable);
+ std::shared_ptr<ITable> GetTable() const;
+ std::string GetName() const;
+ std::string GetType() const;
+
+ private:
+ Scheduler();
+ virtual ~Scheduler() = default;
+
+ void ProcessCommandAddition(Command* command);
+
+ Command::SubsystemSet m_subsystems;
+ priority_mutex m_buttonsLock;
+ typedef std::vector<ButtonScheduler*> ButtonVector;
+ ButtonVector m_buttons;
+ typedef std::vector<Command*> CommandVector;
+ priority_mutex m_additionsLock;
+ CommandVector m_additions;
+ typedef std::set<Command*> CommandSet;
+ CommandSet m_commands;
+ bool m_adding = false;
+ bool m_enabled = true;
+ std::vector<std::string> commands;
+ std::vector<double> ids;
+ std::vector<double> toCancel;
+ std::shared_ptr<ITable> m_table;
+ bool m_runningCommandsChanged = false;
+};
+
+} // namespace frc