# validated: 2024-01-19 DS 6e58db398d63 RepeatCommand.java
from __future__ import annotations
from wpiutil import SendableBuilder
from .command import Command, InterruptionBehavior
from .commandscheduler import CommandScheduler
[docs]
class RepeatCommand(Command):
"""
A command that runs another command repeatedly, restarting it when it ends, until this command is
interrupted. Command instances that are passed to it cannot be added to any other groups, or
scheduled individually.
The rules for command compositions apply: command instances that are passed to it cannot be
added to any other composition or scheduled individually,and the composition requires all
subsystems its components require.
"""
def __init__(self, command: Command):
"""
Creates a new RepeatCommand. Will run another command repeatedly, restarting it whenever it
ends, until this command is interrupted.
:param command: the command to run repeatedly
"""
super().__init__()
self._command = command
CommandScheduler.getInstance().registerComposedCommands([command])
self.requirements.update(command.getRequirements())
self.setName(f"Repeat({command.getName()})")
[docs]
def initialize(self):
self._ended = False
self._command.initialize()
[docs]
def execute(self):
if self._ended:
self._ended = False
self._command.initialize()
self._command.execute()
if self._command.isFinished():
# restart command
self._command.end(False)
self._ended = True
[docs]
def isFinished(self) -> bool:
return False
[docs]
def end(self, interrupted: bool):
# Make sure we didn't already call end() (which would happen if the command finished in the
# last call to our execute())
if not self._ended:
self._command.end(interrupted)
self._ended = True
[docs]
def runsWhenDisabled(self) -> bool:
return self._command.runsWhenDisabled()
[docs]
def getInterruptionBehavior(self) -> InterruptionBehavior:
return self._command.getInterruptionBehavior()
[docs]
def initSendable(self, builder: SendableBuilder) -> None:
super().initSendable(builder)
builder.addStringProperty("command", self._command.getName, lambda _: None)