#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 ()
virtual std::string	GetName ()
virtual std::string	GetType ()
virtual NetworkTable *	GetTable ()
virtual void	ValueChanged (NetworkTable table, const char name, NetworkTables_Types type)
virtual void	ValueConfirmed (NetworkTable table, const char name, NetworkTables_Types type)
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 ()
Friends
class	CommandGroup
class	Scheduler

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 45 of file Command.h.

Constructor & Destructor Documentation

Command::Command ( )

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

Definition at line 48 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 57 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 69 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 82 of file Command.cpp.

Member Function Documentation

void Command::_Cancel ( ) [protected, virtual]

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 355 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 268 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 343 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 393 of file Command.cpp.

virtual void Command::End ( ) [protected, pure 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, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.

virtual void Command::Execute ( ) [protected, pure virtual]

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

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

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 403 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 250 of file Command.cpp.

virtual void Command::Initialize ( ) [protected, pure virtual]

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

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

virtual void Command::Interrupted ( ) [protected, pure 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, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.

bool Command::IsCanceled ( )

Returns whether or not this has been canceled.

Returns:: whether or not this has been canceled

Definition at line 365 of file Command.cpp.

virtual bool Command::IsFinished ( ) [protected, pure 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, StartCommand, WaitCommand, WaitForChildren, and WaitUntilCommand.

bool Command::IsInterruptible ( )

Returns whether or not this command can be interrupted.

Returns:: whether or not this command can be interrupted

Reimplemented in CommandGroup.

Definition at line 374 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 330 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 241 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 134 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 189 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 383 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 284 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 414 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 104 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 176 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 117 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 423 of file Command.cpp.

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

Command Class Reference

Public Types

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation