Add proxy factory to Commands

rzblue · Sep 2, 2023 · 6566394 · 6566394
1 parent 8e2465f
commit 6566394
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Showing 3 changed files with 37 additions and 0 deletions.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
@@ -100,6 +100,18 @@ public static Command print(String message) {
     return new PrintCommand(message);
   }
 
+  /**
+   * Constructs a command that schedules the supplied command when initialized, and ends when it is
+   * no longer scheduled.
+   *
+   * @param supplier the command supplier
+   * @return the command
+   * @see ProxyCommand
+   */
+  public static Command proxy(Supplier<Command> supplier) {
+    return new ProxyCommand(supplier);
+  }
+
   // Idling Commands
 
   /**

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
@@ -11,6 +11,7 @@
 #include "frc2/command/ParallelDeadlineGroup.h"
 #include "frc2/command/ParallelRaceGroup.h"
 #include "frc2/command/PrintCommand.h"
+#include "frc2/command/ProxyCommand.h"
 #include "frc2/command/RunCommand.h"
 #include "frc2/command/SequentialCommandGroup.h"
 #include "frc2/command/WaitCommand.h"
@@ -86,6 +87,14 @@ CommandPtr cmd::Print(std::string_view msg) {
   return PrintCommand(msg).ToPtr();
 }
 
+CommandPtr cmd::Proxy(wpi::unique_function<Command*()> supplier) {
+  return ProxyCommand(std::move(supplier)).ToPtr();
+}
+
+CommandPtr cmd::Proxy(wpi::unique_function<CommandPtr()> supplier) {
+  return ProxyCommand(std::move(supplier)).ToPtr();
+}
+
 CommandPtr cmd::Wait(units::second_t duration) {
   return WaitCommand(duration).ToPtr();
 }

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
@@ -137,6 +137,22 @@ CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
 [[nodiscard]]
 CommandPtr Print(std::string_view msg);
 
+/**
+ * Constructs a command that schedules the supplied command when initialized,
+ * and ends when it is no longer scheduled
+ *
+ * @param supplier the command supplier
+ */
+[[nodiscard]] CommandPtr Proxy(wpi::unique_function<Command*()>);
+
+/**
+ * Constructs a command that schedules the supplied command when initialized,
+ * and ends when it is no longer scheduled
+ *
+ * @param supplier the command supplier
+ */
+[[nodiscard]] CommandPtr Proxy(wpi::unique_function<CommandPtr()>);
+
 // Idling Commands
 
 /**