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[commands] C++: Allow CommandPtrs to be owned by the scheduler (#7310)

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Previously users would have to keep track of dynamically created CommandPtrs. This adds an ownership-taking version of schedule which places the command in a temporary store in the scheduler. The command will be freed when the command's lifecycle ends.
This commit is contained in:
Ryan Blue
2024-11-01 01:03:12 -04:00
committed by GitHub
parent 328a781040
commit 5f3cf517d3
3 changed files with 77 additions and 0 deletions
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13
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -62,6 +62,11 @@ class CommandScheduler::Impl {
wpi::SmallVector<Command*, 4> toCancelCommands;
wpi::SmallVector<std::optional<Command*>, 4> toCancelInterruptors;
wpi::SmallSet<Command*, 4> endingCommands;
// Map of Command* -> CommandPtr for CommandPtrs transferred to the scheduler
// via Schedule(CommandPtr&&). These are erased (destroyed) at the very end of
// the loop cycle when the command lifecycle is complete.
wpi::DenseMap<Command*, CommandPtr> ownedCommands;
};
template <typename TMap, typename TKey>
@@ -174,6 +179,12 @@ void CommandScheduler::Schedule(const CommandPtr& command) {
Schedule(command.get());
}
void CommandScheduler::Schedule(CommandPtr&& command) {
auto ptr = command.get();
m_impl->ownedCommands.try_emplace(ptr, std::move(command));
Schedule(ptr);
}
void CommandScheduler::Run() {
if (m_impl->disabled) {
return;
@@ -226,6 +237,8 @@ void CommandScheduler::Run() {
}
m_watchdog.AddEpoch(command->GetName() + ".End(false)");
// remove owned commands after everything else is done
m_impl->ownedCommands.erase(command);
}
}
m_impl->inRunLoop = false;

13
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
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@@ -92,6 +92,17 @@ class CommandScheduler final : public wpi::Sendable,
*/
void Schedule(const CommandPtr& command);
/**
* Schedules a command for execution. Does nothing if the command is already
* scheduled. If a command's requirements are not available, it will only be
* started if all the commands currently using those requirements are
* interruptible. If this is the case, they will be interrupted and the
* command will be scheduled.
*
* @param command the command to schedule
*/
void Schedule(CommandPtr&& command);
/**
* Schedules a command for execution. Does nothing if the command is already
* scheduled. If a command's requirements are not available, it will only be
@@ -99,6 +110,8 @@ class CommandScheduler final : public wpi::Sendable,
* scheduled as interruptible. If this is the case, they will be interrupted
* and the command will be scheduled.
*
* The pointer must remain valid through the entire lifecycle of the command.
*
* @param command the command to schedule
*/
void Schedule(Command* command);