[commands] RepeatCommand: restart on following iteration (#4706)

This fixes InstantCommand.repeatedly().

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java

@@ -6,19 +6,16 @@ package edu.wpi.first.wpilibj2.command;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ValueSource;
 
-class RepeatCommandTest {
+class RepeatCommandTest extends CommandTestBase {
   @Test
   void callsMethodsCorrectly() {
-    HAL.initialize(500, 0);
-    // enable so that we don't need to mess with `runsWhenDisabled` for each command
-    DriverStationSim.setEnabled(true);
-
     var initCounter = new AtomicInteger(0);
     var exeCounter = new AtomicInteger(0);
     var isFinishedCounter = new AtomicInteger(0);
@@ -56,7 +53,7 @@ class RepeatCommandTest {
 
     isFinishedHook.set(true);
     CommandScheduler.getInstance().run();
-    assertEquals(2, initCounter.get());
+    assertEquals(1, initCounter.get());
     assertEquals(2, exeCounter.get());
     assertEquals(2, isFinishedCounter.get());
     assertEquals(1, endCounter.get());
@@ -68,4 +65,19 @@ class RepeatCommandTest {
     assertEquals(3, isFinishedCounter.get());
     assertEquals(1, endCounter.get());
   }
+
+  @EnumSource(Command.InterruptionBehavior.class)
+  @ParameterizedTest
+  void interruptible(Command.InterruptionBehavior interruptionBehavior) {
+    var command =
+        new WaitUntilCommand(() -> false).withInterruptBehavior(interruptionBehavior).repeatedly();
+    assertEquals(interruptionBehavior, command.getInterruptionBehavior());
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest
+  void runWhenDisabled(boolean runsWhenDisabled) {
+    var command = new WaitUntilCommand(() -> false).ignoringDisable(runsWhenDisabled).repeatedly();
+    assertEquals(runsWhenDisabled, command.runsWhenDisabled());
+  }
 }

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java

@@ -85,6 +85,8 @@ class TriggerTest extends CommandTestBase {
     scheduler.run();
     assertEquals(1, inits.get());
     scheduler.run();
+    assertEquals(1, inits.get());
+    scheduler.run();
     assertEquals(2, inits.get());
     button.setPressed(false);
     scheduler.run();

wpilibNewCommands/src/test/native/cpp/frc2/command/RepeatCommandTest.cpp

@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
+#include "frc2/command/Commands.h"
 #include "frc2/command/FunctionalCommand.h"
 
 using namespace frc2;
@@ -47,7 +48,7 @@ TEST_F(RepeatCommandTest, CallsMethodsCorrectly) {
 
   isFinishedHook = true;
   scheduler.Run();
-  EXPECT_EQ(2, initCounter);
+  EXPECT_EQ(1, initCounter);
   EXPECT_EQ(2, exeCounter);
   EXPECT_EQ(2, isFinishedCounter);
   EXPECT_EQ(1, endCounter);
@@ -59,3 +60,31 @@ TEST_F(RepeatCommandTest, CallsMethodsCorrectly) {
   EXPECT_EQ(3, isFinishedCounter);
   EXPECT_EQ(1, endCounter);
 }
+
+class RepeatCommandInterruptibilityTest
+    : public CommandTestBaseWithParam<Command::InterruptionBehavior> {};
+
+TEST_P(RepeatCommandInterruptibilityTest, Interruptibility) {
+  CommandPtr command = cmd::WaitUntil([] { return false; })
+                           .WithInterruptBehavior(GetParam())
+                           .Repeatedly();
+  EXPECT_EQ(GetParam(), command.get()->GetInterruptionBehavior());
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    RepeatCommandTests, RepeatCommandInterruptibilityTest,
+    testing::Values(Command::InterruptionBehavior::kCancelIncoming,
+                    Command::InterruptionBehavior::kCancelSelf));
+
+class RepeatCommandRunsWhenDisabledTest
+    : public CommandTestBaseWithParam<bool> {};
+
+TEST_P(RepeatCommandRunsWhenDisabledTest, RunsWhenDisabled) {
+  CommandPtr command = cmd::WaitUntil([] { return false; })
+                           .IgnoringDisable(GetParam())
+                           .Repeatedly();
+  EXPECT_EQ(GetParam(), command.get()->RunsWhenDisabled());
+}
+
+INSTANTIATE_TEST_SUITE_P(RepeatCommandTests, RepeatCommandRunsWhenDisabledTest,
+                         testing::Bool());

wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp

@@ -70,6 +70,8 @@ TEST_F(TriggerTest, WhileTrueRepeatedly) {
   scheduler.Run();
   EXPECT_EQ(1, inits);
   scheduler.Run();
+  EXPECT_EQ(1, inits);
+  scheduler.Run();
   EXPECT_EQ(2, inits);
   pressed = false;
   scheduler.Run();