Command Class Reference

Inheritance diagram for Command:

Public Member Functions
	Command ()
virtual	~Command ()
void	init ()
virtual bool	execute ()=0
virtual bool	cleanup (bool canceled)=0
void	cancel ()
void	stop ()
bool	isRunning ()
bool	isInitialized ()
void	setIsRunning (bool value)
bool	isFinished ()

Protected Attributes
std::mutex	m_lock
	Lock for managing access to member variables in a thread-safe manner.

Detailed Description

Definition at line 6 of file Command.h.

Constructor & Destructor Documentation

Command::Command

(

)

Create a new command.

Definition at line 7 of file Command.cpp.

Command::~Command ( )

virtual

Destroy the command object.

Definition at line 12 of file Command.cpp.

Member Function Documentation

void Command::cancel

(

)

This method is called when a command is canceled. Cancellation only comes from the command manager, so this method should never be directly called. You do not necessarily need to override this function in your command - it will call stop() by default. Only override this if you need custom behavior for when the command is stopped prematurely.

Definition at line 23 of file Command.cpp.

virtual bool Command::cleanup ( bool  canceled )

pure virtual

This method is called to cleanup the command (whenever the stop method is called).

Parameters

canceled

true if command was canceled, false otherwise.

Returns

True if successful.

Implemented in DriveMotorRPM, DriveRobotCommand, and SimpleIteratorCommand.

virtual bool Command::execute ( )

pure virtual

This method is called periodically during the command execution. Think of it like the Arduino's loop() function. While the command is executing this will be called repeatedly. Do not include while loops in here.

Returns

false if the command is done, true if it needs to continue.

Implemented in DriveMotorRPM, DriveRobotCommand, and SimpleIteratorCommand.

void Command::init

(

)

Initialize the command.

Definition at line 16 of file Command.cpp.

bool Command::isFinished

(

)

Returns if a command is finished or not.

Returns

true if finished, false otherwise

Definition at line 64 of file Command.cpp.

bool Command::isInitialized

(

)

Get if the command is initialized.

Returns

true if init() has been run, false otherwise.

Definition at line 49 of file Command.cpp.

bool Command::isRunning

(

)

Get if the command is running or not.

Returns

true if running, false otherwise.

Definition at line 41 of file Command.cpp.

void Command::setIsRunning

(

bool

value

)

Set the running state of this command.

Parameters

value

bool, running or not

Definition at line 57 of file Command.cpp.

void Command::stop

(

)

This method is called when a command has completed execution. Use this method to clean up anything that the command needs to clean before it is destroyed.

Definition at line 32 of file Command.cpp.

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

• include/commands/Command.h
• src/commands/Command.cpp