ScheduleCommandEvent.h

#pragma once
 
#include "pathplanner/lib/events/Event.h"
#include "pathplanner/lib/events/EventScheduler.h"
#include <memory>
#include <frc2/command/Command.h>
 
namespace pathplanner {
class ScheduleCommandEvent: public Event {
public:
    ScheduleCommandEvent(units::second_t timestamp,
            std::shared_ptr<frc2::Command> command) : Event(timestamp), m_command(
            command) {
    }
 
    inline void handleEvent(EventScheduler *eventScheduler) override {
        eventScheduler->scheduleCommand(m_command);
    }
 
    inline void cancelEvent(EventScheduler *eventScheduler) override {
        // Do nothing
    }
 
    inline std::shared_ptr<Event> copyWithTimestamp(units::second_t timestamp)
            override {
        return std::make_shared < ScheduleCommandEvent > (timestamp, m_command);
    }
 
private:
    std::shared_ptr<frc2::Command> m_command;
};
}