io.github.robolib.command

Class CommandGroup

java.lang.Object

io.github.robolib.command.Command

io.github.robolib.command.CommandGroup

All Implemented Interfaces:

NamedSendable, Sendable

public class CommandGroup
extends Command

The Class CommandGroup.

Author:

noriah

Field Summary

Fields

Modifier and Type	Field and Description
private static byte	BRANCH_CHILD The Constant BRANCH_CHILD.
private static byte	BRANCH_PEER The Constant BRANCH_PEER.
private static byte	IN_SEQUENCE The Constant IN_SEQUENCE.
(package private) java.util.Vector<Command>	m_children The m_children.
(package private) java.util.List<Command>	m_commands The m_commands.
(package private) int	m_currentCommandIndex The m_current command index.

Fields inherited from class io.github.robolib.command.Command

m_locked, m_nextCommand, m_previousCommand, m_running, m_state

Constructor Summary

Constructors

Constructor and Description
CommandGroup() Instantiates a new command group.
CommandGroup(java.lang.String name) Instantiates a new command group.

Method Summary

Modifier and Type	Method and Description
(package private) void	_end() End_impl.
(package private) void	_execute() Execute_impl.
(package private) void	_initialize() Initialize_impl.
(package private) void	_interrupted() Interrupted_impl.
private void	addCommand(Command command, byte state, double timeout) Adds the command.
void	addParallel(Command command) Adds a new child Command to the group.
void	addParallel(Command command, double timeout) Adds a new child Command to the group with the given timeout.
void	addSequential(Command command) Adds a new Command to the group.
void	addSequential(Command command, double timeout) Adds a new Command to the group with a given timeout.
private void	cancelConflicts(Command command) Cancel conflicts.
protected void	end() Called when the command ended peacefully.
protected void	execute() The execute method is called repeatedly until this Command either finishes or is canceled.
protected void	initialize() The initialize method is called the first time this Command is run after being started.
protected void	interrupted() Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.
protected boolean	isFinished() Returns whether this command is finished.
boolean	isInterruptible() Checks if is interruptible.
protected static Command	Wait(double timeout)

Methods inherited from class io.github.robolib.command.Command

_cancel, cancel, doesRequire, getGroup, getName, getRequirements, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, removed, requires, run, setCancelOnModeSwitch, setInterruptible, setParent, setRunWhenDisabled, setTimeout, start, startRunning, timeSinceInitialized, toString, willCancelOnModeSwitch, willRunWhenDisabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

IN_SEQUENCE

private static final byte IN_SEQUENCE

The Constant IN_SEQUENCE.

See Also:

Constant Field Values

BRANCH_PEER

private static final byte BRANCH_PEER

The Constant BRANCH_PEER.

See Also:

Constant Field Values

BRANCH_CHILD

private static final byte BRANCH_CHILD

The Constant BRANCH_CHILD.

See Also:

Constant Field Values

m_commands

final java.util.List<Command> m_commands

The m_commands.

m_children

final java.util.Vector<Command> m_children

The m_children.

m_currentCommandIndex

int m_currentCommandIndex

The m_current command index.

Constructor Detail

CommandGroup

public CommandGroup()

Instantiates a new command group.

CommandGroup

public CommandGroup(java.lang.String name)

Instantiates a new command group.

Parameters:

name - the name

Method Detail

addSequential

public final void 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

addSequential

public final void 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. A timeout of -1 means it will not time out. This is the same a omitting the timeout value.

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)

addParallel

public final void 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

addParallel

public final void 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. A timeout of -1 means it will not time out. This is the same a omitting the timeout value.

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)

addCommand

private final void addCommand(Command command,
                              byte state,
                              double timeout)

Adds the command.

Parameters:

command - the command

state - the state

timeout - the timeout

_initialize

final void _initialize()

Initialize_impl.

Overrides:

_initialize in class Command

_execute

final void _execute()

Execute_impl.

Overrides:

_execute in class Command

_end

final void _end()

End_impl.

Overrides:

_end in class Command

_interrupted

final void _interrupted()

Interrupted_impl.

Overrides:

_interrupted in class Command

isFinished

protected final boolean isFinished()

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.

Specified by:

isFinished in class Command

Returns:

whether this command is finished.

See Also:

isTimedOut()

initialize

protected final void initialize()

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

Specified by:

initialize in class Command

execute

protected final void execute()

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

Specified by:

execute in class Command

end

protected final void end()

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.

Specified by:

end in class Command

interrupted

protected final void interrupted()

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

Specified by:

interrupted in class Command

isInterruptible

public final boolean isInterruptible()

Checks if is interruptible.

Overrides:

isInterruptible in class Command

Returns:

true, if is interruptible

Wait

protected static final Command Wait(double timeout)

cancelConflicts

private final void cancelConflicts(Command command)

Cancel conflicts.

Parameters:

command - the command