CommandUtil.h

#pragma once
 
#include <wpi/json.h>
#include <frc2/command/Command.h>
#include <memory>
 
namespace pathplanner {
class CommandUtil {
public:
    static frc2::CommandPtr wrappedEventCommand(
            std::shared_ptr<frc2::Command> command);
 
    static frc2::CommandPtr commandFromJson(const wpi::json &json,
            bool loadChoreoPaths, bool mirror);
 
private:
    static frc2::CommandPtr waitCommandFromJson(const wpi::json &json);
 
    static frc2::CommandPtr namedCommandFromJson(const wpi::json &json);
 
    static frc2::CommandPtr pathCommandFromJson(const wpi::json &json,
            bool loadChoreoPaths, bool mirror);
 
    static frc2::CommandPtr sequentialGroupFromJson(const wpi::json &json,
            bool loadChoreoPaths, bool mirror);
 
    static frc2::CommandPtr parallelGroupFromJson(const wpi::json &json,
            bool loadChoreoPaths, bool mirror);
 
    static frc2::CommandPtr raceGroupFromJson(const wpi::json &json,
            bool loadChoreoPaths, bool mirror);
 
    static frc2::CommandPtr deadlineGroupFromJson(const wpi::json &json,
            bool loadChoreoPaths, bool mirror);
};
}