Package edu.wpi.first.wpilibj2.command

Class WrapperCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.WrapperCommand

All Implemented Interfaces:

Sendable

public abstract class WrapperCommand
extends Command

A class used internally to wrap commands while overriding a specific method; all other methods will call through to the wrapped command.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields

Modifier and Type	Field	Description
protected Command	m_command	Command being wrapped.

Fields inherited from class edu.wpi.first.wpilibj2.command.Command

m_requirements

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	WrapperCommand(Command command)	Wrap a command.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
Command.InterruptionBehavior	getInterruptionBehavior()	How the command behaves when another command with a shared requirement is scheduled.
Set<Subsystem>	getRequirements()	Specifies the set of subsystems used by this command.
void	initialize()	The initial subroutine of a command.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
boolean	isFinished()	Whether the command has finished.
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getName, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

m_command

protected final Command m_command

Command being wrapped.

Constructor Details

WrapperCommand

protected WrapperCommand(Command command)

Wrap a command.

Parameters:

command - the command being wrapped. Trying to directly schedule this command or add it to a composition will throw an exception.

Method Details

initialize

public void initialize()

The initial subroutine of a command. Called once when the command is initially scheduled.

Overrides:

initialize in class Command

execute

public void execute()

The main body of a command. Called repeatedly while the command is scheduled.

Overrides:

execute in class Command

end

public void end(boolean interrupted)

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

Overrides:

end in class Command

Parameters:

interrupted - whether the command was interrupted/canceled

isFinished

public boolean isFinished()

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Overrides:

isFinished in class Command

Returns:

whether the command has finished.

getRequirements

public Set<Subsystem> getRequirements()

Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If the command is scheduled as interruptible and another command is scheduled that shares a requirement, the command will be interrupted. Else, the command will not be scheduled. If no subsystems are required, return an empty set.

Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.

Overrides:

getRequirements in class Command

Returns:

the set of subsystems that are required

See Also:

Command.InterruptionBehavior

runsWhenDisabled

public boolean runsWhenDisabled()

Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.

Overrides:

runsWhenDisabled in class Command

Returns:

whether the command should run when the robot is disabled

getInterruptionBehavior

public Command.InterruptionBehavior getInterruptionBehavior()

Description copied from class: Command

How the command behaves when another command with a shared requirement is scheduled.

Overrides:

getInterruptionBehavior in class Command

Returns:

a variant of Command.InterruptionBehavior, defaulting to kCancelSelf.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class Command

Parameters:

builder - sendable builder