command_controller.h

 
#pragma once
#include "core/utils/command_structure/auto_command.h"
#include <queue>
#include <vector>
 
class CommandController {
  public:
    [[deprecated("Empty constructor is bad. Use list constructor "
                 "instead.")]] CommandController()
        : command_queue({}) {}

    CommandController(std::initializer_list<AutoCommand *> cmds) : command_queue(cmds) {}
    [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch "
                 "(https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void
    add(std::vector<AutoCommand *> cmds);
    void add(AutoCommand *cmd, double timeout_seconds = 10.0);


    [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch "
                 "(https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] 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);

    void run();
 
    /*
     * returns the amount of commands in the controller
     */
    std::string toString();

    bool last_command_timed_out();
    bool printPathLogs = true;
 
  private:
    std::queue<AutoCommand *> command_queue;
    bool command_timed_out = false;
    std::function<bool()> should_cancel = []() { return false; };
};