Beispiel #1
0
/**
 * Removes the {@link Command} from the {@link Scheduler}.
 *
 * @param command the command to remove
 */
void Scheduler::Remove(Command* command) {
  if (command == nullptr) {
    wpi_setWPIErrorWithContext(NullParameter, "command");
    return;
  }

  if (!m_commands.erase(command)) return;

  Command::SubsystemSet requirements = command->GetRequirements();
  auto iter = requirements.begin();
  for (; iter != requirements.end(); iter++) {
    Subsystem* lock = *iter;
    lock->SetCurrentCommand(nullptr);
  }

  command->Removed();
}
Beispiel #2
0
void Scheduler::ProcessCommandAddition(Command* command) {
  if (command == nullptr) return;

  // Check to make sure no adding during adding
  if (m_adding) {
    wpi_setWPIErrorWithContext(IncompatibleState,
                               "Can not start command from cancel method");
    return;
  }

  // Only add if not already in
  auto found = m_commands.find(command);
  if (found == m_commands.end()) {
    // Check that the requirements can be had
    Command::SubsystemSet requirements = command->GetRequirements();
    Command::SubsystemSet::iterator iter;
    for (iter = requirements.begin(); iter != requirements.end(); iter++) {
      Subsystem* lock = *iter;
      if (lock->GetCurrentCommand() != nullptr &&
          !lock->GetCurrentCommand()->IsInterruptible())
        return;
    }

    // Give it the requirements
    m_adding = true;
    for (iter = requirements.begin(); iter != requirements.end(); iter++) {
      Subsystem* lock = *iter;
      if (lock->GetCurrentCommand() != nullptr) {
        lock->GetCurrentCommand()->Cancel();
        Remove(lock->GetCurrentCommand());
      }
      lock->SetCurrentCommand(command);
    }
    m_adding = false;

    m_commands.insert(command);

    command->StartRunning();
    m_runningCommandsChanged = true;
  }
}