#include <Command.h>

Inheritance diagram for Command:

Collaboration diagram for Command:

Public Types
typedef std::set< Subsystem * >	SubsystemSet

Public Member Functions
	Command ()

	Command (const char *name)

	Command (double timeout)

	Command (const char *name, double timeout)

double	TimeSinceInitialized ()

void	Requires (Subsystem *s)

bool	IsCanceled ()

void	Start ()

bool	Run ()

void	Cancel ()

bool	IsRunning ()

bool	IsInterruptible ()

void	SetInterruptible (bool interruptible)

bool	DoesRequire (Subsystem *subsystem)

SubsystemSet	GetRequirements ()

CommandGroup *	GetGroup ()

void	SetRunWhenDisabled (bool run)

bool	WillRunWhenDisabled ()

int	GetID ()

virtual std::string	GetName ()

virtual void	InitTable (ITable *table)

virtual ITable *	GetTable ()

virtual std::string	GetSmartDashboardType ()

virtual void	ValueChanged (ITable *source, const std::string &key, EntryValue value, bool isNew)

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Protected Member Functions
void	SetTimeout (double timeout)

bool	IsTimedOut ()

bool	AssertUnlocked (const char *message)

void	SetParent (CommandGroup *parent)

virtual void	Initialize ()=0

virtual void	Execute ()=0

virtual bool	IsFinished ()=0

virtual void	End ()=0

virtual void	Interrupted ()=0

virtual void	_Initialize ()

virtual void	_Interrupted ()

virtual void	_Execute ()

virtual void	_End ()

virtual void	_Cancel ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes
ITable *	m_table

Protected Attributes inherited from ErrorBase
Error	m_error

Friends
class	CommandGroup

class	Scheduler

Additional Inherited Members
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

The Command class is at the very core of the entire command framework. Every command can be started with a call to Start(). Once a command is started it will call Initialize(), and then will repeatedly call Execute() until the IsFinished() returns true. Once it does, End() will be called.

However, if at any point while it is running Cancel() is called, then the command will be stopped and Interrupted() will be called.

If a command uses a Subsystem, then it should specify that it does so by calling the Requires(...) method in its constructor. Note that a Command may have multiple requirements, and Requires(...) should be called for each one.

If a command is running and a new command with shared requirements is started, then one of two things will happen. If the active command is interruptible, then Cancel() will be called and the command will be removed to make way for the new one. If the active command is not interruptible, the other one will not even be started, and the active one will continue functioning.

See Also: CommandGroup; Subsystem

Definition at line 43 of file Command.h.

Constructor & Destructor Documentation

Command::Command ( )

Creates a new command. The name of this command will be default.

Definition at line 50 of file Command.cpp.

Command::Command ( const char * name )

Creates a new command with the given name and no timeout.

Parameters

name	the name for this command

Definition at line 59 of file Command.cpp.

Command::Command ( double timeout )

Creates a new command with the given timeout and a default name.

Parameters

timeout the time (in seconds) before this command "times out"

See Also: Command::isTimedOut() isTimedOut()

Definition at line 71 of file Command.cpp.

Command::Command	(	const char *	name,
		double	timeout
	)

Creates a new command with the given name and timeout.

Parameters

name	the name of the command
timeout	the time (in seconds) before this command "times out"

See Also: Command::isTimedOut() isTimedOut()

Definition at line 84 of file Command.cpp.

Member Function Documentation

void Command::_Cancel ( )

protectedvirtual

This works like cancel(), except that it doesn't throw an exception if it is a part of a command group. Should only be called by the parent command group.

Definition at line 365 of file Command.cpp.

bool Command::AssertUnlocked ( const char * message )

protected

If changes are locked, then this will generate a CommandIllegalUse error.

Parameters

message the message to report on error (it is appended by a default message)

Returns: true if assert passed, false if assert failed

Definition at line 278 of file Command.cpp.

void Command::Cancel ( )

This will cancel the current command.

This will cancel the current command eventually. It can be called multiple times. And it can be called when the command is not running. If the command is running though, then the command will be marked as canceled and eventually removed.

A command can not be canceled if it is a part of a command group, you must cancel the command group instead.

Definition at line 353 of file Command.cpp.

bool Command::DoesRequire ( Subsystem * system )

Checks if the command requires the given Subsystem.

Parameters

system the system

Returns: whether or not the subsystem is required (false if given NULL)

Definition at line 403 of file Command.cpp.

virtual void Command::End ( )

protectedpure virtual

Called when the command ended peacefully. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

Implemented in CommandGroup, PrintCommand, WaitCommand, WaitForChildren, WaitUntilCommand, and StartCommand.

virtual void Command::Execute ( )

protectedpure virtual

The execute method is called repeatedly until this Command either finishes or is canceled.

Implemented in CommandGroup, PrintCommand, WaitCommand, WaitForChildren, WaitUntilCommand, and StartCommand.

CommandGroup * Command::GetGroup ( )

Returns the CommandGroup that this command is a part of. Will return null if this Command is not in a group.

Returns: the CommandGroup that this command is a part of (or null if not in group)

Definition at line 413 of file Command.cpp.

int Command::GetID ( )

Get the ID (sequence number) for this command The ID is a unique sequence number that is incremented for each command.

Returns: the ID of this command

Definition at line 105 of file Command.cpp.

std::string Command::GetName ( )

virtual

Returns: the name of the subtable of SmartDashboard that the Sendable object will use

Implements NamedSendable.

Definition at line 438 of file Command.cpp.

Command::SubsystemSet Command::GetRequirements ( )

Returns the requirements (as an std::set of Subsystems pointers) of this command

Returns: the requirements (as an std::set of Subsystems pointers) of this command

Definition at line 260 of file Command.cpp.

std::string Command::GetSmartDashboardType ( )

virtual

Returns: the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

Reimplemented in PIDCommand.

Definition at line 443 of file Command.cpp.

ITable * Command::GetTable ( )

virtual

Returns: the table that is currently associated with the sendable

Implements Sendable.

Definition at line 461 of file Command.cpp.

virtual void Command::Initialize ( )

protectedpure virtual

The initialize method is called the first time this Command is run after being started.

Implemented in CommandGroup, PrintCommand, WaitCommand, WaitForChildren, WaitUntilCommand, and StartCommand.

void Command::InitTable ( ITable * subtable )

virtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Implements Sendable.

Reimplemented in PIDCommand.

Definition at line 448 of file Command.cpp.

virtual void Command::Interrupted ( )

protectedpure virtual

Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.

This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

Generally, it is useful to simply call the end() method within this method

Implemented in CommandGroup, PrintCommand, WaitCommand, WaitForChildren, WaitUntilCommand, and StartCommand.

bool Command::IsCanceled ( )

Returns whether or not this has been canceled.

Returns: whether or not this has been canceled

Definition at line 375 of file Command.cpp.

virtual bool Command::IsFinished ( )

protectedpure virtual

Returns whether this command is finished. If it is, then the command will be removed and end() will be called.

It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.

Returns: whether this command is finished.

See Also: Command::isTimedOut() isTimedOut()

Implemented in CommandGroup, PrintCommand, WaitCommand, WaitForChildren, WaitUntilCommand, and StartCommand.

bool Command::IsInterruptible ( )

Returns whether or not this command can be interrupted.

Returns: whether or not this command can be interrupted

Definition at line 384 of file Command.cpp.

bool Command::IsRunning ( )

Returns whether or not the command is running. This may return true even if the command has just been canceled, as it may not have yet called Command#interrupted().

Returns: whether or not the command is running

Definition at line 340 of file Command.cpp.

bool Command::IsTimedOut ( )

protected

Returns whether or not the timeSinceInitialized() method returns a number which is greater than or equal to the timeout for the command. If there is no timeout, this will always return false.

Returns: whether the time has expired

Definition at line 251 of file Command.cpp.

void Command::Requires ( Subsystem * subsystem )

This method specifies that the given Subsystem is used by this command. This method is crucial to the functioning of the Command System in general.

Note that the recommended way to call this method is in the constructor.

Parameters

subsystem the Subsystem required

See Also: Subsystem

Definition at line 144 of file Command.cpp.

bool Command::Run ( )

The run method is used internally to actually run the commands.

Returns: whether or not the command should stay within the Scheduler.

Definition at line 199 of file Command.cpp.

void Command::SetInterruptible ( bool interruptible )

Sets whether or not this command can be interrupted.

Parameters

interruptible whether or not this command can be interrupted

Definition at line 393 of file Command.cpp.

void Command::SetParent ( CommandGroup * parent )

protected

Sets the parent of this command. No actual change is made to the group.

Parameters

parent the parent

Definition at line 294 of file Command.cpp.

void Command::SetRunWhenDisabled ( bool run )

Sets whether or not this Command should run when the robot is disabled.

By default a command will not run when the robot is disabled, and will in fact be canceled.

Parameters

run	whether or not this command should run when the robot is disabled

Definition at line 424 of file Command.cpp.

void Command::SetTimeout ( double timeout )

protected

Sets the timeout of this command.

Parameters

timeout the timeout (in seconds)

See Also: Command::isTimedOut() isTimedOut()

Definition at line 114 of file Command.cpp.

void Command::Start ( )

Starts up the command. Gets the command ready to start.

Note that the command will eventually start, however it will not necessarily do so immediately, and may in fact be canceled before initialize is even called.

Definition at line 186 of file Command.cpp.

double Command::TimeSinceInitialized ( )

Returns the time since this command was initialized (in seconds). This function will work even if there is no specified timeout.

Returns: the time since this command was initialized (in seconds).

Definition at line 127 of file Command.cpp.

void Command::ValueChanged	(	ITable *	source,
		const std::string &	key,
		EntryValue	value,
		bool	isNew
	)

virtual

Called when a key-value pair is changed in a ITable WARNING: If a new key-value is put in this method value changed will immediatly be called which could lead to recursive code

Parameters

source	the table the key-value pair exists in
key	the key associated with the value that changed
value	the new value
isNew	true if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.

Definition at line 465 of file Command.cpp.

bool Command::WillRunWhenDisabled ( )

Returns whether or not this Command will run when the robot is disabled, or if it will cancel itself.

Returns: whether or not this Command will run when the robot is disabled, or if it will cancel itself

Definition at line 433 of file Command.cpp.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation