CommandController Class Reference

#include <command_controller.h>

Public Member Functions
	CommandController (std::initializer_list< AutoCommand * > cmds)
	Create a CommandController with commands pre added. More can be added with CommandController::add().
void	add (std::vector< AutoCommand * > cmds)
void	add (AutoCommand *cmd, double timeout_seconds=10.0)
void	add (std::vector< AutoCommand * > cmds, double timeout_sec)
void	add_delay (int ms)
void	add_cancel_func (std::function< bool(void)> true_if_cancel)
	add_cancel_func specifies that when this func evaluates to true, to cancel the command controller
void	run ()
std::string	toString ()
	returns the amount of commands in the controller
bool	last_command_timed_out ()

Detailed Description

File: command_controller.h Desc: A CommandController manages the AutoCommands that make up an autonomous route. The AutoCommands are kept in a queue and get executed and removed from the queue in FIFO order.

Constructor & Destructor Documentation

CommandController()

CommandController::CommandController ( std::initializer_list< AutoCommand * > cmds )

inline

Create a CommandController with commands pre added. More can be added with CommandController::add().

Parameters

cmds

Member Function Documentation

add() [1/3]

void CommandController::add	(	AutoCommand *	cmd,
		double	timeout_seconds = 10.0 )

File: command_controller.cpp Desc: A CommandController manages the AutoCommands that make up an autonomous route. The AutoCommands are kept in a queue and get executed and removed from the queue in FIFO order. Adds a command to the queue

Parameters

cmd	the AutoCommand we want to add to our list
timeout_seconds	the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout

add() [2/3]

void CommandController::add

(

std::vector< AutoCommand * >

cmds

)

Adds a command to the queue

Parameters

cmd	the AutoCommand we want to add to our list
timeout_seconds	the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied

Add multiple commands to the queue. No timeout here.

Parameters

cmds	the AutoCommands we want to add to our list

add() [3/3]

void CommandController::add	(	std::vector< AutoCommand * >	cmds,
		double	timeout_sec )

Add multiple commands to the queue. No timeout here.

Parameters

cmds	the AutoCommands we want to add to our list Add multiple commands to the queue. No timeout here.
cmds	the AutoCommands we want to add to our list
timeout_sec	timeout in seconds to apply to all commands if they are still the default

Add multiple commands to the queue. No timeout here.

Parameters

cmds	the AutoCommands we want to add to our list
timeout	timeout in seconds to apply to all commands if they are still the default

add_cancel_func()

void CommandController::add_cancel_func

(

std::function< bool(void)>

true_if_cancel

)

add_cancel_func specifies that when this func evaluates to true, to cancel the command controller

Parameters

true_if_cancel

a function that returns true when we want to cancel the command controller

add_delay()

void CommandController::add_delay

(

int

ms

)

Adds a command that will delay progression of the queue

Parameters

ms	- number of milliseconds to wait before continuing execution of autonomous

last_command_timed_out()

bool CommandController::last_command_timed_out

(

)

last_command_timed_out tells how the last command ended Use this if you want to make decisions based on the end of the last command

Returns

true if the last command timed out. false if it finished regularly

run()

void CommandController::run

(

)

Begin execution of the queue Execute and remove commands in FIFO order

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The documentation for this class was generated from the following files:

• command_controller.h
• command_controller.cpp