// 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.

package edu.wpi.first.wpilibj2.command;

import edu.wpi.first.wpilibj.Notifier;

/**
 * A command that starts a notifier to run the given runnable periodically in a separate thread. Has
 * no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
 * Command#until(java.util.function.BooleanSupplier)} to give it one.
 *
 * <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
 * code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you
 * should not use this class.
 *
 * <p>This class is provided by the NewCommands VendorDep
 */
public class NotifierCommand extends Command {
  private final Notifier m_notifier;
  private final double m_period;

  /**
   * Creates a new NotifierCommand.
   *
   * @param toRun the runnable for the notifier to run
   * @param period the period at which the notifier should run, in seconds
   * @param requirements the subsystems required by this command
   */
  @SuppressWarnings("this-escape")
  public NotifierCommand(Runnable toRun, double period, Subsystem... requirements) {
    m_notifier = new Notifier(toRun);
    m_period = period;
    addRequirements(requirements);
  }

  @Override
  public void initialize() {
    m_notifier.startPeriodic(m_period);
  }

  @Override
  public void end(boolean interrupted) {
    m_notifier.stop();
  }
}