Mechanism.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.command3;
 
import java.util.List;
import java.util.function.Consumer;
import org.wpilib.annotation.NoDiscard;
import org.wpilib.units.measure.Time;

public interface Mechanism {
  default Scheduler getRegisteredScheduler() {
    return Scheduler.getDefault();
  }

  default boolean controllableDuringDisabled() {
    return false;
  }

  @NoDiscard
  default String getName() {
    return getClass().getSimpleName();
  }

  default void setDefaultCommand(Command defaultCommand) {
    getRegisteredScheduler().setDefaultCommand(this, defaultCommand);
  }

  default Command getDefaultCommand() {
    return getRegisteredScheduler().getDefaultCommandFor(this);
  }

  default NeedsNameBuilderStage run(Consumer<Coroutine> commandBody) {
    return new StagedCommandBuilder().requiring(this).executing(commandBody);
  }

  default NeedsNameBuilderStage runRepeatedly(Runnable loopBody) {
    return run(
        coroutine -> {
          while (true) {
            loopBody.run();
            coroutine.yield();
          }
        });
  }

  default Command idle() {
    return run(Coroutine::park).withPriority(Command.LOWEST_PRIORITY).named(getName() + "[IDLE]");
  }

  default Command idleFor(Time duration) {
    return idle().withTimeout(duration);
  }

  @NoDiscard
  default List<Command> getRunningCommands() {
    return getRegisteredScheduler().getRunningCommandsFor(this);
  }
}