wpi::cmd::CommandPtr Class Reference

A wrapper around std::unique_ptr<Command> so commands have move-only semantics. More...

#include <wpi/commands2/CommandPtr.hpp>

Public Member Functions
	CommandPtr (std::unique_ptr< Command > &&command)
template<std::derived_from< Command > T>
	CommandPtr (T &&command)
	CommandPtr (CommandPtr &&)
CommandPtr &	operator= (CommandPtr &&)=default
	CommandPtr (std::nullptr_t)=delete
CommandPtr	Repeatedly () &&
	Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted.
CommandPtr	AsProxy () &&
	Decorates this command to run "by proxy" by wrapping it in a ProxyCommand.
CommandPtr	IgnoringDisable (bool doesRunWhenDisabled) &&
	Decorates this command to run or stop when disabled.
CommandPtr	WithInterruptBehavior (Command::InterruptionBehavior interruptBehavior) &&
	Decorates this command to have a different interrupt behavior.
CommandPtr	AndThen (std::function< void()> toRun, Requirements requirements={}) &&
	Decorates this command with a runnable to run after the command finishes.
CommandPtr	AndThen (CommandPtr &&next) &&
	Decorates this command with a set of commands to run after it in sequence.
CommandPtr	BeforeStarting (std::function< void()> toRun, Requirements requirements={}) &&
	Decorates this command with a runnable to run before this command starts.
CommandPtr	BeforeStarting (CommandPtr &&before) &&
	Decorates this command with another command to run before this command starts.
CommandPtr	WithTimeout (wpi::units::second_t duration) &&
	Decorates this command with a timeout.
CommandPtr	Until (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition.
CommandPtr	OnlyWhile (std::function< bool()> condition) &&
	Decorates this command with a run condition.
CommandPtr	Unless (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is not met.
CommandPtr	OnlyIf (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is met.
CommandPtr	WithDeadline (CommandPtr &&deadline) &&
	Creates a new command that runs this command and the deadline in parallel, finishing (and interrupting this command) when the deadline finishes.
CommandPtr	DeadlineWith (CommandPtr &&parallel) &&
	Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.
CommandPtr	DeadlineFor (CommandPtr &&parallel) &&
	Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.
CommandPtr	AlongWith (CommandPtr &&parallel) &&
	Decorates this command with a set of commands to run parallel to it, ending when the last command ends.
CommandPtr	RaceWith (CommandPtr &&parallel) &&
	Decorates this command with a set of commands to run parallel to it, ending when the first command ends.
CommandPtr	FinallyDo (std::function< void(bool)> end) &&
	Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method.
CommandPtr	FinallyDo (std::function< void()> end) &&
	Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method.
CommandPtr	HandleInterrupt (std::function< void()> handler) &&
	Decorates this command with a lambda to call on interrupt, following the command's inherent Command::End(bool) method.
CommandPtr	WithName (std::string_view name) &&
	Decorates this Command with a name.
Command *	get () const &
	Get a raw pointer to the held command.
Command *	get () &&=delete
std::unique_ptr< Command >	Unwrap () &&
	Convert to the underlying unique_ptr.
void	Schedule () const &
	Schedules this command.
void	Schedule () &&=delete
void	Cancel () const &
	Cancels this command.
void	Cancel () &&=delete
bool	IsScheduled () const &
	Whether or not the command is currently scheduled.
void	IsScheduled () &&=delete
bool	HasRequirement (Subsystem *requirement) const &
	Whether the command requires a given subsystem.
void	HasRequirement (Subsystem *requirement) &&=delete
	operator bool () const &
	Check if this CommandPtr object is valid and wasn't moved-from.
	operator bool () &&=delete

Static Public Member Functions
static std::vector< std::unique_ptr< Command > >	UnwrapVector (std::vector< CommandPtr > &&vec)
	Convert a vector of CommandPtr objects to their underlying unique_ptrs.

Detailed Description

A wrapper around std::unique_ptr<Command> so commands have move-only semantics.

Commands should only be stored and passed around when held in a CommandPtr instance. For more info, see https://github.com/wpilibsuite/allwpilib/issues/4303.

Various classes in the command-based library accept a std::unique_ptr<Command>, use CommandPtr::Unwrap to convert. CommandPtr::UnwrapVector does the same for vectors.

Constructor & Destructor Documentation

CommandPtr() [1/4]

wpi::cmd::CommandPtr::CommandPtr ( std::unique_ptr< Command > && command )

explicit

CommandPtr() [2/4]

template<std::derived_from< Command > T>

wpi::cmd::CommandPtr::CommandPtr ( T && command )

inlineexplicit

CommandPtr() [3/4]

wpi::cmd::CommandPtr::CommandPtr

(

CommandPtr &&

)

CommandPtr() [4/4]

wpi::cmd::CommandPtr::CommandPtr ( std::nullptr_t )

explicitdelete

Member Function Documentation

AlongWith()

CommandPtr wpi::cmd::CommandPtr::AlongWith

(

CommandPtr &&

parallel

)

&&

Decorates this command with a set of commands to run parallel to it, ending when the last command ends.

Often more convenient/less-verbose than constructing a new ParallelCommandGroup explicitly.

Parameters

parallel

the commands to run in parallel

Returns

the decorated command

AndThen() [1/2]

CommandPtr wpi::cmd::CommandPtr::AndThen

(

CommandPtr &&

next

)

&&

Decorates this command with a set of commands to run after it in sequence.

Often more convenient/less-verbose than constructing a new SequentialCommandGroup explicitly.

Parameters

next	the commands to run next

Returns

the decorated command

AndThen() [2/2]

CommandPtr wpi::cmd::CommandPtr::AndThen	(	std::function< void()>	toRun,
		Requirements	requirements = {} ) &&

Decorates this command with a runnable to run after the command finishes.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns

the decorated command

AsProxy()

CommandPtr wpi::cmd::CommandPtr::AsProxy

(

)

&&

Decorates this command to run "by proxy" by wrapping it in a ProxyCommand.

Use this for "forking off" from command compositions when the user does not wish to extend the command's requirements to the entire command composition. ProxyCommand has unique implications and semantics, see the WPILib docs for a full explanation.

Returns

the decorated command

See also

ProxyCommand

BeforeStarting() [1/2]

CommandPtr wpi::cmd::CommandPtr::BeforeStarting

(

CommandPtr &&

before

)

&&

Decorates this command with another command to run before this command starts.

Parameters

before

the command to run before this one

Returns

the decorated command

BeforeStarting() [2/2]

CommandPtr wpi::cmd::CommandPtr::BeforeStarting	(	std::function< void()>	toRun,
		Requirements	requirements = {} ) &&

Decorates this command with a runnable to run before this command starts.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns

the decorated command

Cancel() [1/2]

void wpi::cmd::CommandPtr::Cancel ( ) &&

delete

Cancel() [2/2]

void wpi::cmd::CommandPtr::Cancel

(

)

const &

Cancels this command.

Will call End(true). Commands will be canceled regardless of interruption behavior.

DeadlineFor()

CommandPtr wpi::cmd::CommandPtr::DeadlineFor

(

CommandPtr &&

parallel

)

&&

Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.

Often more convenient/less-verbose than constructing a new ParallelDeadlineGroup explicitly.

Parameters

parallel

the commands to run in parallel. Note the parallel commands will be interupted when the deadline command ends

Returns

the decorated command

DeadlineWith()

CommandPtr wpi::cmd::CommandPtr::DeadlineWith

(

CommandPtr &&

parallel

)

&&

Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.

Often more convenient/less-verbose than constructing a new ParallelDeadlineGroup explicitly.

Parameters

parallel

the commands to run in parallel

Returns

the decorated command

FinallyDo() [1/2]

CommandPtr wpi::cmd::CommandPtr::FinallyDo

(

std::function< void()>

end

)

&&

Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method.

The provided lambda will run identically in both interrupt and end cases.

Parameters

end	a lambda to run when the command ends, whether or not it was interrupted.

Returns

the decorated command

FinallyDo() [2/2]

CommandPtr wpi::cmd::CommandPtr::FinallyDo

(

std::function< void(bool)>

end

)

&&

Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method.

Parameters

end	a lambda accepting a boolean parameter specifying whether the command was interrupted

Returns

the decorated command

get() [1/2]

Command * wpi::cmd::CommandPtr::get ( ) &&

delete

get() [2/2]

Command * wpi::cmd::CommandPtr::get

(

)

const &

Get a raw pointer to the held command.

HandleInterrupt()

CommandPtr wpi::cmd::CommandPtr::HandleInterrupt

(

std::function< void()>

handler

)

&&

Decorates this command with a lambda to call on interrupt, following the command's inherent Command::End(bool) method.

Parameters

handler

a lambda to run when the command is interrupted

Returns

the decorated command

HasRequirement() [1/2]

void wpi::cmd::CommandPtr::HasRequirement ( Subsystem * requirement ) &&

delete

HasRequirement() [2/2]

bool wpi::cmd::CommandPtr::HasRequirement

(

Subsystem *

requirement

)

const &

Whether the command requires a given subsystem.

Named "HasRequirement" rather than "requires" to avoid confusion with Command::Requires(Subsystem) – this may be able to be changed in a few years.

Parameters

requirement

the subsystem to inquire about

Returns

whether the subsystem is required

IgnoringDisable()

CommandPtr wpi::cmd::CommandPtr::IgnoringDisable

(

bool

doesRunWhenDisabled

)

&&

Decorates this command to run or stop when disabled.

Parameters

doesRunWhenDisabled

true to run when disabled

Returns

the decorated command

IsScheduled() [1/2]

void wpi::cmd::CommandPtr::IsScheduled ( ) &&

delete

IsScheduled() [2/2]

bool wpi::cmd::CommandPtr::IsScheduled

(

)

const &

Whether or not the command is currently scheduled.

Note that this does not detect whether the command is in a composition, only whether it is directly being run by the scheduler.

Returns

Whether the command is scheduled.

OnlyIf()

CommandPtr wpi::cmd::CommandPtr::OnlyIf

(

std::function< bool()>

condition

)

&&

Decorates this command to only run if this condition is met.

If the command is already running and the condition changes to false, the command will not stop running. The requirements of this command will be kept for the new conditional command.

Parameters

condition

the condition that will allow the command to run

Returns

the decorated command

OnlyWhile()

CommandPtr wpi::cmd::CommandPtr::OnlyWhile

(

std::function< bool()>

condition

)

&&

Decorates this command with a run condition.

If the specified condition becomes false before the command finishes normally, the command will be interrupted and un-scheduled.

Parameters

condition

the run condition

Returns

the command with the run condition added

operator bool() [1/2]

wpi::cmd::CommandPtr::operator bool ( ) &&

explicitdelete

operator bool() [2/2]

wpi::cmd::CommandPtr::operator bool ( ) const &

explicit

Check if this CommandPtr object is valid and wasn't moved-from.

operator=()

CommandPtr & wpi::cmd::CommandPtr::operator= ( CommandPtr && )

default

RaceWith()

CommandPtr wpi::cmd::CommandPtr::RaceWith

(

CommandPtr &&

parallel

)

&&

Decorates this command with a set of commands to run parallel to it, ending when the first command ends.

Often more convenient/less-verbose than constructing a new ParallelRaceGroup explicitly.

Parameters

parallel

the commands to run in parallel

Returns

the decorated command

Repeatedly()

CommandPtr wpi::cmd::CommandPtr::Repeatedly

(

)

&&

Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted.

The decorated command can still be canceled.

Returns

the decorated command

Schedule() [1/2]

void wpi::cmd::CommandPtr::Schedule ( ) &&

delete

Schedule() [2/2]

void wpi::cmd::CommandPtr::Schedule

(

)

const &

Schedules this command.

Deprecated

Use CommandScheduler::GetInstance().Schedule() instead

Unless()

CommandPtr wpi::cmd::CommandPtr::Unless

(

std::function< bool()>

condition

)

&&

Decorates this command to only run if this condition is not met.

If the command is already running and the condition changes to true, the command will not stop running. The requirements of this command will be kept for the new conditional command.

Parameters

condition

the condition that will prevent the command from running

Returns

the decorated command

Until()

CommandPtr wpi::cmd::CommandPtr::Until

(

std::function< bool()>

condition

)

&&

Decorates this command with an interrupt condition.

If the specified condition becomes true before the command finishes normally, the command will be interrupted and un-scheduled.

Parameters

condition

the interrupt condition

Returns

the command with the interrupt condition added

Unwrap()

std::unique_ptr< Command > wpi::cmd::CommandPtr::Unwrap

(

)

&&

Convert to the underlying unique_ptr.

UnwrapVector()

std::vector< std::unique_ptr< Command > > wpi::cmd::CommandPtr::UnwrapVector ( std::vector< CommandPtr > && vec )

static

Convert a vector of CommandPtr objects to their underlying unique_ptrs.

WithDeadline()

CommandPtr wpi::cmd::CommandPtr::WithDeadline

(

CommandPtr &&

deadline

)

&&

Creates a new command that runs this command and the deadline in parallel, finishing (and interrupting this command) when the deadline finishes.

Parameters

deadline

the deadline of the command group

Returns

the decorated command

See also

DeadlineFor

WithInterruptBehavior()

CommandPtr wpi::cmd::CommandPtr::WithInterruptBehavior

(

Command::InterruptionBehavior

interruptBehavior

)

&&

Decorates this command to have a different interrupt behavior.

Parameters

interruptBehavior

the desired interrupt behavior

Returns

the decorated command

WithName()

CommandPtr wpi::cmd::CommandPtr::WithName

(

std::string_view

name

)

&&

Decorates this Command with a name.

Is an inline function for Command::SetName(std::string_view);

Parameters

name

name

Returns

the decorated Command

WithTimeout()

CommandPtr wpi::cmd::CommandPtr::WithTimeout

(

wpi::units::second_t

duration

)

&&

Decorates this command with a timeout.

If the specified timeout is exceeded before the command finishes normally, the command will be interrupted and un-scheduled.

Parameters

duration

the timeout duration

Returns

the command with the timeout added

---

The documentation for this class was generated from the following file:

• wpi/commands2/CommandPtr.hpp