command_controller.h

 
#pragma once
#include <queue>
#include <vector>
 
#include "core/competition/command_structure/auto_command.h"
 
class CommandController {
   public:
    CommandController(std::initializer_list<AutoCommand*> 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();

    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; };
};