# validated: 2024-01-20 DS aaea85ff1656 WaitUntilCommand.java
from __future__ import annotations
from typing import Callable, overload
from wpilib import Timer
from wpimath import units
from .command import Command
from .util import format_args_kwargs
[docs]
class WaitUntilCommand(Command):
"""
A command that does nothing but ends after a specified match time or condition. Useful for
CommandGroups.
"""
_condition: Callable[[], bool]
@overload
def __init__(self, condition: Callable[[], bool]):
"""
Creates a new WaitUntilCommand that ends after a given condition becomes true.
:param condition: the condition to determine when to end
"""
...
@overload
def __init__(self, time: units.seconds):
"""
Creates a new WaitUntilCommand that ends after a given match time.
NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT
guarantee that the time at which the action is performed will be judged to be legal by the
referees. When in doubt, add a safety factor or time the action manually.
:param time: the match time at which to end, in seconds
"""
...
def __init__(self, *args, **kwargs):
super().__init__()
def init_condition(condition: Callable[[], bool]) -> None:
assert callable(condition)
self._condition = condition
def init_time(time: float) -> None:
self._condition = lambda: Timer.getMatchTime() - time > 0
num_args = len(args) + len(kwargs)
if num_args == 1 and len(kwargs) == 1:
if "condition" in kwargs:
return init_condition(kwargs["condition"])
elif "time" in kwargs:
return init_time(kwargs["time"])
elif num_args == 1 and len(args) == 1:
if isinstance(args[0], float):
return init_time(args[0])
elif callable(args[0]):
return init_condition(args[0])
raise TypeError(
f"""
TypeError: WaitUntilCommand(): incompatible function arguments. The following argument types are supported:
1. (self: WaitUntilCommand, condition: () -> bool)
2. (self: WaitUntilCommand, time: wpimath.units.seconds)
Invoked with: {format_args_kwargs(self, *args, **kwargs)}
"""
)
[docs]
def isFinished(self) -> bool:
return self._condition()
[docs]
def runsWhenDisabled(self) -> bool:
return True