WPILibC++ 2024.3.2
frc2::CommandBase Class Reference

A Sendable base class for Commands. More...

#include <frc2/command/CommandBase.h>

Inheritance diagram for frc2::CommandBase:
frc2::Command wpi::Sendable wpi::SendableHelper< Command >

Protected Member Functions

 CommandBase ()
 
- Protected Member Functions inherited from frc2::Command
 Command ()
 
virtual std::unique_ptr< CommandTransferOwnership () &&=0
 Transfers ownership of this command to a unique pointer. More...
 
- Protected Member Functions inherited from wpi::SendableHelper< Command >
 SendableHelper ()=default
 
 ~SendableHelper ()
 

Additional Inherited Members

- Public Types inherited from frc2::Command
enum class  InterruptionBehavior { kCancelSelf , kCancelIncoming }
 An enum describing the command's behavior when another command with a shared requirement is scheduled. More...
 
- Public Member Functions inherited from frc2::Command
 ~Command () override
 
 Command (const Command &)=default
 
Commandoperator= (const Command &rhs)
 
 Command (Command &&)=default
 
Commandoperator= (Command &&)=default
 
virtual void Initialize ()
 The initial subroutine of a command. More...
 
virtual void Execute ()
 The main body of a command. More...
 
virtual void End (bool interrupted)
 The action to take when the command ends. More...
 
virtual bool IsFinished ()
 Whether the command has finished. More...
 
virtual wpi::SmallSet< Subsystem *, 4 > GetRequirements () const
 Specifies the set of subsystems used by this command. More...
 
void AddRequirements (Requirements requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (Subsystem *requirement)
 Adds the specified Subsystem requirement to the command. More...
 
std::string GetName () const
 Gets the name of this Command. More...
 
void SetName (std::string_view name)
 Sets the name of this Command. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Command. More...
 
void SetSubsystem (std::string_view subsystem)
 Sets the subsystem name of this Command. More...
 
CommandPtr WithTimeout (units::second_t duration) &&
 Decorates this command with a timeout. More...
 
CommandPtr Until (std::function< bool()> condition) &&
 Decorates this command with an interrupt condition. More...
 
CommandPtr OnlyWhile (std::function< bool()> condition) &&
 Decorates this command with a run condition. More...
 
CommandPtr BeforeStarting (std::function< void()> toRun, Requirements requirements={}) &&
 Decorates this command with a runnable to run before this command starts. More...
 
CommandPtr AndThen (std::function< void()> toRun, Requirements requirements={}) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
CommandPtr Repeatedly () &&
 Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted. More...
 
CommandPtr AsProxy () &&
 Decorates this command to run "by proxy" by wrapping it in a ProxyCommand. More...
 
CommandPtr Unless (std::function< bool()> condition) &&
 Decorates this command to only run if this condition is not met. More...
 
CommandPtr OnlyIf (std::function< bool()> condition) &&
 Decorates this command to only run if this condition is met. More...
 
CommandPtr IgnoringDisable (bool doesRunWhenDisabled) &&
 Decorates this command to run or stop when disabled. More...
 
CommandPtr WithInterruptBehavior (Command::InterruptionBehavior interruptBehavior) &&
 Decorates this command to have a different interrupt behavior. More...
 
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. More...
 
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. More...
 
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. More...
 
CommandPtr WithName (std::string_view name) &&
 Decorates this Command with a name. More...
 
void Schedule ()
 Schedules this command. More...
 
void Cancel ()
 Cancels this command. More...
 
bool IsScheduled () const
 Whether or not the command is currently scheduled. More...
 
bool HasRequirement (Subsystem *requirement) const
 Whether the command requires a given subsystem. More...
 
bool IsComposed () const
 Whether the command is currently grouped in a command group. More...
 
void SetComposed (bool isComposed)
 Sets whether the command is currently composed in a command composition. More...
 
std::optional< std::string > GetPreviousCompositionSite () const
 Get the stacktrace of where this command was composed, or an empty optional. More...
 
virtual bool RunsWhenDisabled () const
 Whether the given command should run when the robot is disabled. More...
 
virtual InterruptionBehavior GetInterruptionBehavior () const
 How the command behaves when another command with a shared requirement is scheduled. More...
 
virtual CommandPtr ToPtr () &&=0
 Transfers ownership of this command to a unique pointer. More...
 
void InitSendable (wpi::SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from wpi::Sendable
virtual ~Sendable ()=default
 
virtual void InitSendable (SendableBuilder &builder)=0
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from wpi::SendableHelper< Command >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
- Protected Attributes inherited from frc2::Command
wpi::SmallSet< Subsystem *, 4 > m_requirements
 Requirements set. More...
 
std::optional< std::string > m_previousComposition
 

Detailed Description

A Sendable base class for Commands.

This class is provided by the NewCommands VendorDep

Deprecated:
All functionality provided by CommandBase has been merged into Command. Use Command instead.

Constructor & Destructor Documentation

◆ CommandBase()

frc2::CommandBase::CommandBase ( )
protected

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