Add factory method

wpilibsuite · Aug 25, 2023 · e27188f · e27188f
1 parent cc11f2a
commit e27188f
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Showing 3 changed files with 46 additions and 2 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
@@ -7,6 +7,7 @@
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import java.util.Map;
+import java.util.Set;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
 
@@ -142,6 +143,20 @@ public static Command select(Map<Object, Command> commands, Supplier<Object> sel
     return new SelectCommand(commands, selector);
   }
 
+  /**
+   * Runs the command supplied by the supplier.
+   *
+   * @param supplier the command supplier
+   * @param requirements the set of requirements for this command
+   * @return the command
+   * @see DeferredCommand
+   */
+  public static Command defer(Supplier<Command> supplier, Set<Subsystem> requirements) {
+    return new DeferredCommand(supplier, requirements);
+  }
+
+  // Command Groups
+
   /**
    * Runs a group of commands in series, one after the other.
    *
@@ -153,8 +168,6 @@ public static Command sequence(Command... commands) {
     return new SequentialCommandGroup(commands);
   }
 
-  // Command Groups
-
   /**
    * Runs a group of commands in series, one after the other. Once the last command ends, the group
    * is restarted.

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
@@ -5,6 +5,7 @@
 #include "frc2/command/Commands.h"
 
 #include "frc2/command/ConditionalCommand.h"
+#include "frc2/command/DeferredCommand.h"
 #include "frc2/command/FunctionalCommand.h"
 #include "frc2/command/InstantCommand.h"
 #include "frc2/command/ParallelCommandGroup.h"
@@ -97,6 +98,16 @@ CommandPtr cmd::Either(CommandPtr&& onTrue, CommandPtr&& onFalse,
       .ToPtr();
 }
 
+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::Sequence(std::vector<CommandPtr>&& commands) {
   return SequentialCommandGroup(CommandPtr::UnwrapVector(std::move(commands)))
       .ToPtr();

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
@@ -179,6 +179,26 @@ CommandPtr Select(std::function<Key()> selector,
   return SelectCommand(std::move(selector), std::move(vec)).ToPtr();
 }
 
+/**
+ * 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::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);
+
 // Command Groups
 
 namespace impl {