Make CommandGroup a GenericCommand

src/command.rs

@@ -164,22 +164,25 @@ macro_rules! command_impl {
 
 pub type CommandRef = Rc<RefCell<dyn Command>>;
 
-pub struct CommandGroup {
+pub struct CommandGroupConfig {
-    commands: Vec<CommandRef>,
+    pub commands: Vec<CommandRef>,
-    command_data: CommandData,
+}
+
+impl CommandGroupConfig {
+    pub fn new(commands: Vec<CommandRef>) -> Self {
+        Self { commands }
+    }
+}
+
+pub struct CommandGroupState {
     current_idx: Option<usize>,
     has_initialized: bool,
     has_cancelled: bool,
 }
 
-impl CommandGroup {
+impl Default for CommandGroupState {
-    pub fn new<TCommands>(data: CommandData, commands: TCommands) -> Self
+    fn default() -> Self {
-    where
+        CommandGroupState {
-        TCommands: IntoIterator<Item = CommandRef>,
-    {
-        CommandGroup {
-            commands: commands.into_iter().collect(),
-            command_data: data,
             current_idx: None,
             has_initialized: false,
             has_cancelled: false,
@@ -187,51 +190,49 @@ impl CommandGroup {
     }
 }
 
-impl WithCommandData for CommandGroup {
+pub type CommandGroup = GenericCommand<CommandGroupConfig, CommandGroupState>;
-    fn command_data(&self) -> &CommandData {
-        &self.command_data
-    }
-}
 
 impl Command for CommandGroup {
     fn init(&mut self) {
-        if self.current_idx.is_some() {
+        if self.state.current_idx.is_some() {
             error!("CommandGroup init called twice");
         }
-        self.current_idx = Some(0);
+        self.state.current_idx = Some(0);
-        self.has_initialized = false;
+        self.state.has_initialized = false;
-        self.has_cancelled = false;
+        self.state.has_cancelled = false;
         debug!("CommandGroup {} init", self.command_data().name());
     }
 
     fn step(&mut self) -> CommandResult {
         use self::CommandResult::*;
-        if self.has_cancelled {
+        let state = &mut self.state;
+        let commands = &self.config.commands;
+        if state.has_cancelled {
             debug!("CommandGroup step called after cancelled");
             return CommandResult::Cancel;
         }
-        let mut current_idx = if let Some(c) = self.current_idx {
+        let mut current_idx = if let Some(c) = state.current_idx {
             c
         } else {
             error!("CommandGroup step called before init");
-            self.has_cancelled = true;
+            state.has_cancelled = true;
             return CommandResult::Cancel;
         };
         let mut result: CommandResult;
         loop {
-            if current_idx >= self.commands.len() {
+            if current_idx >= commands.len() {
                 debug!("CommandGroup out of commands");
                 return CommandResult::Done;
             }
-            let mut command = self.commands[current_idx].borrow_mut();
+            let mut command = commands[current_idx].borrow_mut();
-            if !self.has_initialized {
+            if !state.has_initialized {
                 debug!(
                     "CommandGroup init {0} ({1})",
                     current_idx,
                     command.command_data().name()
                 );
                 command.init();
-                self.has_initialized = true;
+                state.has_initialized = true;
             }
             result = command.step();
             if result != Continue {
@@ -246,29 +247,31 @@ impl Command for CommandGroup {
             match result {
                 Done => {
                     current_idx += 1;
-                    self.has_initialized = false;
+                    state.has_initialized = false;
                 }
                 Cancel => {
-                    self.has_cancelled = true;
+                    state.has_cancelled = true;
                     break;
                 }
                 _ => break,
             }
         }
-        self.current_idx = Some(current_idx);
+        state.current_idx = Some(current_idx);
         CommandResult::Continue
     }
 
     fn finish(&mut self, result: CommandResult) {
+        let state = &mut self.state;
+        let commands = &mut self.config.commands;
         if result == CommandResult::Cancel {
-            if let Some(command) = self
+            if let Some(command) = state
                 .current_idx
-                .and_then(|current_idx| self.commands.get(current_idx))
+                .and_then(|current_idx| commands.get(current_idx))
             {
                 command.borrow_mut().finish(result);
             }
         }
-        self.current_idx = None;
+        state.current_idx = None;
     }
 }
 

src/robot.rs

@@ -3,7 +3,7 @@ use std::rc::Rc;
 use std::thread;
 use std::time::Duration;
 
-use command::{CommandData, CommandGroup, CommandRef, CommandScheduler};
+use command::{CommandData, CommandGroup, CommandGroupConfig, CommandRef, CommandScheduler};
 use drive::{Drive, DriveRef};
 
 mod cmds {
@@ -77,7 +77,7 @@ impl Robot {
         let log_command = cmds::LogCmd::new_ref(CommandData::new(2, "LogCommand"), ());
         let command_group = CommandGroup::new(
             CommandData::new(1, "Group"),
-            vec![command, log_command],
+            CommandGroupConfig::new(vec![command, log_command]),
         );
         let command_ref: CommandRef = Rc::new(RefCell::new(command_group));