WaitUntilCommand.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <functional>
 
#include "wpi/commands2/Command.hpp"
#include "wpi/commands2/CommandHelper.hpp"
#include "wpi/units/time.hpp"
 
namespace wpi::cmd {
/**
 * A command that does nothing but ends after a specified match time or
 * condition.  Useful for CommandGroups.
 *
 * This class is provided by the NewCommands VendorDep
 */
class WaitUntilCommand : public CommandHelper<Command, WaitUntilCommand> {
 public:
  /**
   * Creates a new WaitUntilCommand that ends after a given condition becomes
   * true.
   *
   * @param condition the condition to determine when to end
   */
  explicit WaitUntilCommand(std::function<bool()> condition);
 
  /**
   * Creates a new WaitUntilCommand that ends after a given match time.
   *
   * <p>NOTE: The match timer used for this command is UNOFFICIAL.  Using this
   * command does NOT guarantee that the time at which the action is performed
   * will be judged to be legal by the referees.  When in doubt, add a safety
   * factor or time the action manually.
   *
   * The match time counts down when connected to FMS or the DS is in practice
   * mode for the current mode. When the DS is not connected to FMS or in
   * practice mode, the command will not wait.
   *
   * @param time the match time after which to end, in seconds
   * @see wpi::DriverStation::GetMatchTime()
   */
  explicit WaitUntilCommand(wpi::units::second_t time);
 
  WaitUntilCommand(WaitUntilCommand&& other) = default;
 
  WaitUntilCommand(const WaitUntilCommand& other) = default;
 
  bool IsFinished() override;
 
  bool RunsWhenDisabled() const override;
 
 private:
  std::function<bool()> m_condition;
};
}  // namespace wpi::cmd