#include <CommandGroup.h>

Inheritance diagram for CommandGroup:

Collaboration diagram for CommandGroup:

Public Member Functions
	CommandGroup ()

	CommandGroup (const char *name)

void	AddSequential (Command *command)

void	AddSequential (Command *command, double timeout)

void	AddParallel (Command *command)

void	AddParallel (Command *command, double timeout)

bool	IsInterruptible ()

int	GetSize ()

Public Member Functions inherited from Command
	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
virtual void	Initialize ()

virtual void	Execute ()

virtual bool	IsFinished ()

virtual void	End ()

virtual void	Interrupted ()

virtual void	_Initialize ()

virtual void	_Interrupted ()

virtual void	_Execute ()

virtual void	_End ()

Protected Member Functions inherited from Command
void	SetTimeout (double timeout)

bool	IsTimedOut ()

bool	AssertUnlocked (const char *message)

void	SetParent (CommandGroup *parent)

virtual void	_Cancel ()

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

Additional Inherited Members
Public Types inherited from Command
typedef std::set< Subsystem * >	SubsystemSet

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 ()

Protected Attributes inherited from Command
ITable *	m_table

Protected Attributes inherited from ErrorBase
Error	m_error

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

A CommandGroup is a list of commands which are executed in sequence.

Commands in a CommandGroup are added using the AddSequential(...) method and are called sequentially. CommandGroups are themselves Commands and can be given to other CommandGroups.

CommandGroups will carry all of the requirements of their subcommands. Additional requirements can be specified by calling Requires(...) normally in the constructor.

CommandGroups can also execute commands in parallel, simply by adding them using AddParallel(...).

See Also: Command; Subsystem

Definition at line 33 of file CommandGroup.h.

Constructor & Destructor Documentation

CommandGroup::CommandGroup ( )

Creates a new CommandGroup.

Definition at line 13 of file CommandGroup.cpp.

CommandGroup::CommandGroup ( const char * name )

Creates a new CommandGroup with the given name.

Parameters

name	the name for this command group

Definition at line 22 of file CommandGroup.cpp.

Member Function Documentation

void CommandGroup::AddParallel ( Command * command )

Adds a new child Command to the group. The Command will be started after all the previously added Commands.

Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.

Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

It is recommended that this method be called in the constructor.

Parameters

command The command to be added

Definition at line 125 of file CommandGroup.cpp.

void CommandGroup::AddParallel	(	Command *	command,
		double	timeout
	)

Adds a new child Command to the group with the given timeout. The Command will be started after all the previously added Commands.

Once the Command is started, it will run until it finishes, is interrupted, or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.

Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, the timeout expires, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.

Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

It is recommended that this method be called in the constructor.

Parameters

command	The command to be added
timeout	The timeout (in seconds)

Definition at line 169 of file CommandGroup.cpp.

void CommandGroup::AddSequential ( Command * command )

Adds a new Command to the group. The Command will be started after all the previously added Commands.

Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

It is recommended that this method be called in the constructor.

Parameters

command The Command to be added

Definition at line 44 of file CommandGroup.cpp.

void CommandGroup::AddSequential	(	Command *	command,
		double	timeout
	)

Adds a new Command to the group with a given timeout. The Command will be started after all the previously added commands.

Once the Command is started, it will be run until it finishes or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.

Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

It is recommended that this method be called in the constructor.

Parameters

command	The Command to be added
timeout	The timeout (in seconds)

Definition at line 81 of file CommandGroup.cpp.

void CommandGroup::End ( )

protectedvirtual

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.

Implements Command.

Definition at line 318 of file CommandGroup.cpp.

void CommandGroup::Execute ( )

protectedvirtual

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

Implements Command.

Definition at line 313 of file CommandGroup.cpp.

void CommandGroup::Initialize ( )

protectedvirtual

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

Implements Command.

Definition at line 308 of file CommandGroup.cpp.

void CommandGroup::Interrupted ( )

protectedvirtual

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

Implements Command.

Definition at line 323 of file CommandGroup.cpp.

bool CommandGroup::IsFinished ( )

protectedvirtual

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()

Implements Command.

Definition at line 327 of file CommandGroup.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation