/// <summary>
/// Sets the default command.
/// </summary>
/// <remarks>If this is not called, or is called with null, then there will be no default
/// command for the subsystem.
/// <para/><b>WARNING:</b> This should <b>NOT</b> be called in a constructor if the
/// subsystem is a singleton.</remarks>
/// <param name="command">The default command(or null if there should be none.</param>
/// <exception cref="IllegalUseOfCommandException">If the command does not require the subsystem.</exception>
protected internal void SetDefaultCommand(Command command)
{
if (command == null)
{
m_defaultCommand = null;
}
else
{
bool found = false;
foreach (var s in command.GetRequirements())
{
if (s.Equals(this))
found = true;
}
if (!found)
{
throw new IllegalUseOfCommandException("A default command must require the subsystem");
}
m_defaultCommand = command;
}
if (Table != null)
{
if (m_defaultCommand != null)
{
Table.PutBoolean("hasDefault", true);
Table.PutString("default", m_defaultCommand.Name);
}
else
{
Table.PutBoolean("hasDefault", false);
}
}
}
/// <summary>
/// Adds a <see cref="Command"/> to the scheduler.
/// </summary>
/// <param name="command">The command to add to the scheduler.</param>
public void AddCommand(Command command)
{
if (command != null)
{
m_additions.Add(command);
}
}
/// <summary>
/// Adds a new <see cref="Command"/> to the group.
/// </summary>
/// <remarks>
/// The <see cref="Command"/> will be started after all the previously added <see cref="Command">commands</see>.
/// <para>
/// Note that any requirements thee given <see cref="Command"/> has will be added to the group. For this reason, a
/// <see cref="Command">Command's</see> requirements cannot be changed after being added to a group.
/// </para>
/// <para>
/// It is recommended that this method be called in the constructor.
/// </para>
/// </remarks>
/// <param name="command">The <see cref="Command"/> to be added.</param>
/// <exception cref="IllegalUseOfCommandException">If the command has been started before or been given to another group.</exception>
/// <exception cref="ArgumentNullException">If the given <see cref="Command"/> is null</exception>
public void AddSequential(Command command)
{
lock (m_syncRoot)
{
Validate("Can not add new command to command group");
if (command == null)
throw new ArgumentNullException(nameof(command), "Given null command");
command.SetParent(this);
m_commands.Add(new Entry(command, Entry.IN_SEQUENCE));
foreach (var e in command.GetRequirements())
{
Requires(e);
}
}
}
private void _Add(Command command)
{
if (command == null)
{
return;
}
if (m_adding)
{
Console.Error.WriteLine($"WARNING: Cannot start command from cancel method. Ignoring: {command}");
}
if (!m_commandTable.ContainsKey(command))
{
IEnumerable<Subsystem> requirements = command.GetRequirements();
if (requirements.Any(subsystem => subsystem.GetCurrentCommand() != null && !subsystem.GetCurrentCommand().Interruptible))
{
return;
}
m_adding = true;
requirements = command.GetRequirements();
foreach (var subsystem in requirements)
{
if (subsystem.GetCurrentCommand() != null)
{
subsystem.GetCurrentCommand().Cancel();
Remove(subsystem.GetCurrentCommand());
}
subsystem.SetCurrentCommand(command);
}
m_adding = false;
LinkedListElement element = new LinkedListElement();
element.SetData(command);
if (m_firstCommand == null)
{
m_firstCommand = m_lastCommand = element;
}
else
{
m_lastCommand.Add(element);
m_lastCommand = element;
}
m_commandTable.Add(command, element);
m_runningCommandsChanged = true;
command.StartRunning();
}
}
private void _Add(Command command)
{
if (command == null)
{
return;
}
if (m_adding)
{
Console.Error.WriteLine($"WARNING: Cannot start command from cancel method. Ignoring: {command}");
}
if (!m_activeCommands.Contains(command))
{
var requirements = command.GetRequirements();
var currentCommands = requirements.Select(subsystem => subsystem.GetCurrentCommand())
.Where(x => x != null);
// If there are any non-interruptible commands on the subsystems required for this command
if (currentCommands.Any(cmd => !cmd.Interruptible))
{
return;
}
m_adding = true;
foreach (var subsystem in requirements)
{
if (subsystem.GetCurrentCommand() != null)
{
subsystem.GetCurrentCommand().Cancel();
Remove(subsystem.GetCurrentCommand());
}
subsystem.SetCurrentCommand(command);
}
m_adding = false;
m_activeCommands.Add(command);
m_runningCommandsChanged = true;
command.StartRunning();
}
}
internal void Remove(Command command)
{
if (command == null || !m_commandTable.ContainsKey(command))
{
return;
}
LinkedListElement e = m_commandTable[command];
m_commandTable.Remove(command);
if (e.Equals(m_lastCommand))
{
m_lastCommand = e.GetPrevious();
}
if (e.Equals(m_firstCommand))
{
m_firstCommand = e.GetNext();
}
e.Remove();
var requirements = command.GetRequirements();
foreach (var requirement in requirements)
{
requirement.SetCurrentCommand(null);
}
command.Removed();
}
/// <summary>
/// Starts the command when the button is released
/// </summary>
/// <param name="command">The command to start</param>
public void WhenReleased(Command command)
{
WhenInactive(command);
}
internal void SetCurrentCommand(Command command)
{
m_currentCommand = command;
m_currentCommandChanged = true;
}
public void SetData(Command newData)
{
data = newData;
}
/// <summary>
/// Constantly starts the given command while the button is held.
/// </summary><remarks>
/// <see cref="Command.Start()"/> will be called repeatedly while the button is held,
/// and will be canceled when the button is released.
/// </remarks>
/// <param name="command">The command to start</param>
public void WhileHeld(Command command)
{
WhileActive(command);
}
/// <summary>
/// Cancel the command when the button is pressed.
/// </summary>
/// <param name="command">The command to start</param>
public void CancelWhenPressed(Command command)
{
CancelWhenActive(command);
}
private void CancelConflicts(Command command)
{
for (int i = 0; i < m_children.Count; i++)
{
Command child = m_children[i].command;
foreach (var requirement in command.GetRequirements())
{
if (child.DoesRequire(requirement))
{
child._Cancel();
child.Removed();
m_children.RemoveAt(i--);
}
}
}
}
public void Init(Command command)
{
this.command = command;
}
/// <summary>
/// Starts the given command whenever the trigger just becomes active.
/// </summary>
/// <param name="command">The command to start</param>
public void WhenActive(Command command)
{
new PressedButtonScheduler(Grab(), this, command).Start();
}
public HeldButtonScheduler(bool last, Trigger button, Command orders)
: base(last, button, orders)
{
}
protected ButtonScheduler(bool last, Trigger button, Command orders)
{
m_pressedLast = last;
m_button = button;
m_command = orders;
}
public void Init(Command command)
{
Command = command;
}
internal void Remove(Command command)
{
if (command == null || !m_activeCommands.Contains(command))
{
return;
}
m_activeCommands.Remove(command);
foreach (var requirement in command.GetRequirements())
{
requirement.SetCurrentCommand(null);
}
command.Removed();
}
internal Entry(Command command, int state, double timeout)
{
this.command = command;
this.state = state;
this.timeout = timeout;
}
/// <summary>
/// Constantly starts the given command while the button is held.
/// </summary><remarks>
/// <see cref="Command.Start()"/> will be called repeatedly while the button is held,
/// and will be canceled when the button is released.
/// </remarks>
/// <param name="command">The command to start</param>
public void WhileActive(Command command)
{
new HeldButtonScheduler(Grab(), this, command).Start();
}
/// <summary>
/// Toggles the command whenever the button is pressed (on then off then on)
/// </summary>
/// <param name="command">The command to start</param>
public void ToggleWhenPressed(Command command)
{
ToggleWhenActive(command);
}
/// <summary>
/// Adds a new <see cref="Command"/> to the group with the given timeout.
/// </summary>
/// <remarks>
/// The <see cref="Command"/> will be started after all the previously added <see cref="Command">commands</see>.
/// /// <para>
/// Once the <see cref="Command"/> is started, it will be run until it finishes or the time expires, whichever is sooner.
/// Note that the give <see cref="Command"/> will have no knowledge that it is on a timer.
/// </para>
/// <para>
/// Instead of waiting for the child to finish, a <see cref="CommandGroup"/> will have it run
/// at the same time as the subsequent <see cref="Command">Commands</see>. The child wil run
/// either until it finishes, a new child with conflicting requirements is started, or the main
/// sequence runs a <see cref="Command"/> with conflicting requirements. In the latter two cases,
/// the child will be canceled even if it says it can't be interrupted.
/// </para>
/// <para>
/// Note that any requirements thee given <see cref="Command"/> has will be added to the group. For this reason, a
/// <see cref="Command">Command's</see> requirements cannot be changed after being added to a group.
/// </para>
/// <para>
/// It is recommended that this method be called in the constructor.
/// </para>
/// </remarks>
/// <param name="command">The <see cref="Command"/> to be added.</param>
/// <param name="timeout">The timeout (in seconds).</param>
/// <exception cref="IllegalUseOfCommandException">If the command has been started before or been given to another group.</exception>
/// <exception cref="ArgumentNullException">If the given <see cref="Command"/> is null</exception>
/// <exception cref="ArgumentOutOfRangeException">If the given timeout is negative.</exception>
public void AddParallel(Command command, double timeout)
{
lock (m_syncRoot)
{
Validate("Can not add new command to command group");
if (command == null)
throw new ArgumentNullException(nameof(command), "Given null command");
if (timeout < 0)
throw new ArgumentOutOfRangeException(nameof(command), "Can not be given a negative timeout");
command.SetParent(this);
m_commands.Add(new Entry(command, Entry.BRANCH_CHILD, timeout));
foreach (Subsystem e in command.GetRequirements())
{
Requires(e);
}
}
}
/// <summary>
/// Starts the command when the button is released
/// </summary>
/// <param name="command">The command to start</param>
public void WhenInactive(Command command)
{
new ReleasedButtonScheduler(Grab(), this, command).Start();
}
internal Entry(Command command, int state)
{
this.command = command;
this.state = state;
timeout = -1;
}
/// <summary>
/// Toggles the command whenever the button is pressed (on then off then on)
/// </summary>
/// <param name="command">The command to start</param>
public void ToggleWhenActive(Command command)
{
new ToggleButtonScheduler(Grab(), this, command).Start();
}
/// <summary>
/// Cancel the command when the button is pressed.
/// </summary>
/// <param name="command">The command to start</param>
public void CancelWhenActive(Command command)
{
new CancelButtonScheduler(Grab(), this, command).Start();
}
/// <summary>
/// Starts the given command whenever the button is newly pressed
/// </summary>
/// <param name="command">The command to start</param>
public void WhenPressed(Command command)
{
WhenActive(command);
}
