/**
* Adds a new {@link Command Command} to the group. The {@link Command Command} will be started after
* all the previously added {@link Command Commands}.
*
* <p>Note that any requirements the given {@link Command Command} has will be added to the
* group. For this reason, a {@link Command Command's} requirements can not be changed after
* being added to a group.</p>
*
* <p>It is recommended that this method be called in the constructor.</p>
*
* @param command The {@link Command Command} to be added
*/
void CommandGroup::AddSequential(Command *command)
{
if (command == NULL)
{
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
if (!AssertUnlocked("Cannot add new command to command group"))
return;
command->SetParent(this);
m_commands.push_back(CommandGroupEntry(command, CommandGroupEntry::kSequence_InSequence));
// Iterate through command->GetRequirements() and call Requires() on each required subsystem
Command::SubsystemSet requirements = command->GetRequirements();
Command::SubsystemSet::iterator iter = requirements.begin();
for (; iter != requirements.end(); iter++)
Requires(*iter);
}
/**
* Adds a new {@link Command Command} to the group with a given timeout.
* The {@link Command Command} will be started after all the previously added
* commands.
*
* <p>Once the {@link Command Command} is started, it will be run until it
* finishes or the time expires, whichever is sooner. Note that the given
* {@link Command Command} will have no knowledge that it is on a timer.</p>
*
* <p>Note that any requirements the given {@link Command Command} has will be
* added to the group. For this reason, a {@link Command Command's}
* requirements can not be changed after being added to a group.</p>
*
* <p>It is recommended that this method be called in the constructor.</p>
*
* @param command The {@link Command Command} to be added
* @param timeout The timeout (in seconds)
*/
void CommandGroup::AddSequential(Command* command, double timeout) {
if (command == nullptr) {
wpi_setWPIErrorWithContext(NullParameter, "command");
return;
}
if (!AssertUnlocked("Cannot add new command to command group")) return;
if (timeout < 0.0) {
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
return;
}
command->SetParent(this);
m_commands.push_back(CommandGroupEntry(
command, CommandGroupEntry::kSequence_InSequence, timeout));
// Iterate through command->GetRequirements() and call Requires() on each
// required subsystem
Command::SubsystemSet requirements = command->GetRequirements();
auto iter = requirements.begin();
for (; iter != requirements.end(); iter++) Requires(*iter);
}
