001/*----------------------------------------------------------------------------*/
002/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
003/* Open Source Software - may be modified and shared by FRC teams. The code   */
004/* must be accompanied by the FIRST BSD license file in the root directory of */
005/* the project.                                                               */
006/*----------------------------------------------------------------------------*/
007
008package edu.wpi.first.wpilibj.command;
009
010/**
011 * This command will only finish if whatever {@link CommandGroup} it is in has no active children.
012 * If it is not a part of a {@link CommandGroup}, then it will finish immediately.  If it is itself an
013 * active child, then the {@link CommandGroup} will never end.
014 *
015 * <p>This class is useful for the situation where you want to allow anything running in parallel to finish, before continuing
016 * in the main {@link CommandGroup} sequence.</p>
017 * @author Joe Grinstead
018 */
019public class WaitForChildren extends Command {
020
021    protected void initialize() {
022    }
023
024    protected void execute() {
025    }
026
027    protected void end() {
028    }
029
030    protected void interrupted() {
031    }
032
033    protected boolean isFinished() {
034        return getGroup() == null || getGroup().m_children.isEmpty();
035    }
036}