Use Requirements struct

rzblue · Oct 2, 2023 · 858860d · 858860d
1 parent ac8907f
commit 858860d
Show file tree

Hide file tree

Showing 4 changed files with 9 additions and 82 deletions.
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
@@ -84,22 +84,12 @@ CommandPtr cmd::Either(CommandPtr&& onTrue, CommandPtr&& onFalse,
 }
 
 CommandPtr cmd::Defer(wpi::unique_function<Command*()> supplier,
-                      std::span<Subsystem* const> requirements) {
-  return DeferredCommand(std::move(supplier), requirements).ToPtr();
-}
-
-CommandPtr cmd::Defer(wpi::unique_function<Command*()> supplier,
-                      std::initializer_list<Subsystem*> requirements) {
-  return DeferredCommand(std::move(supplier), requirements).ToPtr();
-}
-
-CommandPtr cmd::Defer(wpi::unique_function<CommandPtr()> supplier,
-                      std::span<Subsystem* const> requirements) {
+                      Requirements requirements) {
   return DeferredCommand(std::move(supplier), requirements).ToPtr();
 }
 
 CommandPtr cmd::Defer(wpi::unique_function<CommandPtr()> supplier,
-                      std::initializer_list<Subsystem*> requirements) {
+                      Requirements requirements) {
   return DeferredCommand(std::move(supplier), requirements).ToPtr();
 }
 

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/DeferredCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/DeferredCommand.cpp
@@ -11,29 +11,13 @@
 using namespace frc2;
 
 DeferredCommand::DeferredCommand(wpi::unique_function<Command*()> supplier,
-                                 std::span<Subsystem* const> requirements)
+                                 Requirements requirements)
     : m_supplier{std::move(supplier)} {
   AddRequirements(requirements);
 }
 
-DeferredCommand::DeferredCommand(wpi::unique_function<Command*()> supplier,
-                                 std::initializer_list<Subsystem*> requirements)
-    : m_supplier{std::move(supplier)} {
-  AddRequirements(requirements);
-}
-
-DeferredCommand::DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
-                                 std::span<Subsystem* const> requirements)
-    : DeferredCommand(
-          [lambdaSupplier = std::move(supplier),
-           holder = std::optional<CommandPtr>{}]() mutable {
-            holder = lambdaSupplier();
-            return holder->get();
-          },
-          requirements) {}
-
 DeferredCommand::DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
-                                 std::initializer_list<Subsystem*> requirements)
+                                 Requirements requirements)
     : DeferredCommand(
           [lambdaSupplier = std::move(supplier),
            holder = std::optional<CommandPtr>{}]() mutable {

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
@@ -150,27 +150,7 @@ CommandPtr Select(std::function<Key()> selector,
  */
 [[nodiscard]]
 CommandPtr Defer(wpi::unique_function<Command*()> supplier,
-                 std::span<Subsystem* const> requirements);
-
-/**
- * Runs the command supplied by the supplier.
- *
- * @param supplier the command supplier
- * @param requirements the set of requirements for this command
- */
-[[nodiscard]]
-CommandPtr Defer(wpi::unique_function<Command*()> supplier,
-                 std::initializer_list<Subsystem*> requirements);
-
-/**
- * Runs the command supplied by the supplier.
- *
- * @param supplier the command supplier
- * @param requirements the set of requirements for this command
- */
-[[nodiscard]]
-CommandPtr Defer(wpi::unique_function<CommandPtr()> supplier,
-                 std::span<Subsystem* const> requirements);
+                 Requirements requirements);
 
 /**
  * Runs the command supplied by the supplier.
@@ -180,7 +160,7 @@ CommandPtr Defer(wpi::unique_function<CommandPtr()> supplier,
  */
 [[nodiscard]]
 CommandPtr Defer(wpi::unique_function<CommandPtr()> supplier,
-                 std::initializer_list<Subsystem*> requirements);
+                 Requirements requirements);
 
 /**
  * Constructs a command that schedules the command returned from the supplier

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/DeferredCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/DeferredCommand.h
@@ -12,6 +12,7 @@
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandHelper.h"
 #include "frc2/command/PrintCommand.h"
+#include "frc2/command/Requirements.h"
 
 namespace frc2 {
 /**
@@ -39,35 +40,7 @@ class DeferredCommand : public CommandHelper<Command, DeferredCommand> {
    *
    */
   DeferredCommand(wpi::unique_function<Command*()> supplier,
-                  std::span<Subsystem* const> requirements);
-
-  /**
-   * Creates a new DeferredCommand that runs the supplied command when
-   * initialized, and ends when it ends. Useful for lazily
-   * creating commands at runtime. The supplier will be called each time this
-   * command is initialized. The supplier <i>must</i> create a new Command each
-   * call.
-   *
-   * @param supplier The command supplier
-   * @param requirements The command requirements.
-   *
-   */
-  DeferredCommand(wpi::unique_function<Command*()> supplier,
-                  std::initializer_list<Subsystem*> requirements);
-
-  /**
-   * Creates a new DeferredCommand that runs the supplied command when
-   * initialized, and ends when it ends. Useful for lazily
-   * creating commands at runtime. The supplier will be called each time this
-   * command is initialized. The supplier <i>must</i> create a new Command each
-   * call.
-   *
-   * @param supplier The command supplier
-   * @param requirements The command requirements.
-   *
-   */
-  DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
-                  std::span<Subsystem* const> requirements);
+                  Requirements requirements);
 
   /**
    * Creates a new DeferredCommand that runs the supplied command when
@@ -81,7 +54,7 @@ class DeferredCommand : public CommandHelper<Command, DeferredCommand> {
    *
    */
   DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
-                  std::initializer_list<Subsystem*> requirements);
+                  Requirements requirements);
 
   DeferredCommand(DeferredCommand&& other) = default;