| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2011. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __COMMAND_GROUP_H__
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| 8 | #define __COMMAND_GROUP_H__
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| 9 |
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| 10 | #include "Commands/Command.h"
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| 11 | #include "Commands/CommandGroupEntry.h"
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| 12 | #include <list>
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| 13 | #include <vector>
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| 14 |
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| 15 | /**
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| 16 | * A {@link CommandGroup} is a list of commands which are executed in sequence.
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| 17 | *
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| 18 | * <p>Commands in a {@link CommandGroup} are added using the {@link CommandGroup#AddSequential(Command) AddSequential(...)} method
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| 19 | * and are called sequentially.
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| 20 | * {@link CommandGroup CommandGroups} are themselves {@link Command Commands}
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| 21 | * and can be given to other {@link CommandGroup CommandGroups}.</p>
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| 22 | *
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| 23 | * <p>{@link CommandGroup CommandGroups} will carry all of the requirements of their {@link Command subcommands}. Additional
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| 24 | * requirements can be specified by calling {@link CommandGroup#Requires(Subsystem) Requires(...)}
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| 25 | * normally in the constructor.</P>
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| 26 | *
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| 27 | * <p>CommandGroups can also execute commands in parallel, simply by adding them
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| 28 | * using {@link CommandGroup#AddParallel(Command) AddParallel(...)}.</p>
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| 29 | *
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| 30 | * @see Command
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| 31 | * @see Subsystem
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| 32 | */
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| 33 | class CommandGroup : public Command
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| 34 | {
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| 35 | public:
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| 36 | CommandGroup();
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| 37 | CommandGroup(const char *name);
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| 38 | virtual ~CommandGroup();
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| 39 |
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| 40 | void AddSequential(Command *command);
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| 41 | void AddSequential(Command *command, double timeout);
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| 42 | void AddParallel(Command *command);
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| 43 | void AddParallel(Command *command, double timeout);
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| 44 | bool IsInterruptible();
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| 45 | int GetSize();
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| 46 |
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| 47 | protected:
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| 48 | virtual void Initialize();
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| 49 | virtual void Execute();
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| 50 | virtual bool IsFinished();
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| 51 | virtual void End();
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| 52 | virtual void Interrupted();
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| 53 | virtual void _Initialize();
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| 54 | virtual void _Interrupted();
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| 55 | virtual void _Execute();
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| 56 | virtual void _End();
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| 57 |
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| 58 | private:
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| 59 | void CancelConflicts(Command *command);
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| 60 |
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| 61 | typedef std::vector<CommandGroupEntry> CommandVector;
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| 62 | /** The commands in this group (stored in entries) */
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| 63 | CommandVector m_commands;
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| 64 | typedef std::list<CommandGroupEntry> CommandList;
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| 65 | /** The active children in this group (stored in entries) */
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| 66 | CommandList m_children;
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| 67 | /** The current command, -1 signifies that none have been run */
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| 68 | int m_currentCommandIndex;
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| 69 | };
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| 70 |
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| 71 | #endif
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