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Fix small logic error in ParallelDeadlineGroup (#2095)

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Oblarg
2019-11-18 18:33:45 -05:00
committed by Peter Johnson
parent 6f6c6da9f5
commit 0e83c65d27
3 changed files with 14 additions and 7 deletions
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9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
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@@ -21,6 +21,7 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
//maps commands in this group to whether they are still running
private final Map<Command, Boolean> m_commands = new HashMap<>();
private boolean m_runWhenDisabled = true;
private boolean m_finished = true;
private Command m_deadline;
/**
@@ -57,7 +58,7 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
public final void addCommands(Command... commands) {
requireUngrouped(commands);
if (m_commands.containsValue(true)) {
if (!m_finished) {
throw new IllegalStateException(
"Commands cannot be added to a CommandGroup while the group is running");
}
@@ -81,6 +82,7 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
commandRunning.getKey().initialize();
commandRunning.setValue(true);
}
m_finished = false;
}
@Override
@@ -93,6 +95,9 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
if (commandRunning.getKey().isFinished()) {
commandRunning.getKey().end(false);
commandRunning.setValue(false);
if (commandRunning.getKey() == m_deadline) {
m_finished = true;
}
}
}
}
@@ -108,7 +113,7 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
@Override
public boolean isFinished() {
return m_deadline.isFinished();
return m_finished;
}
@Override