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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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51
wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp
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@@ -2,6 +2,8 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <utility>
#include "CommandTestBase.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/RunCommand.h"
@@ -171,3 +173,52 @@ TEST_F(SchedulerTest, ScheduleScheduledNoOp) {
EXPECT_EQ(counter, 1);
}
class TrackDestroyCommand
: public frc2::CommandHelper<Command, TrackDestroyCommand> {
public:
explicit TrackDestroyCommand(wpi::unique_function<void()> deleteFunc)
: m_deleteFunc{std::move(deleteFunc)} {}
TrackDestroyCommand(TrackDestroyCommand&& other)
: m_deleteFunc{std::exchange(other.m_deleteFunc, [] {})} {}
TrackDestroyCommand& operator=(TrackDestroyCommand&& other) {
m_deleteFunc = std::exchange(other.m_deleteFunc, [] {});
return *this;
}
~TrackDestroyCommand() override { m_deleteFunc(); }
private:
wpi::unique_function<void()> m_deleteFunc;
};
TEST_F(SchedulerTest, ScheduleCommandPtr) {
CommandScheduler scheduler = GetScheduler();
int destructionCounter = 0;
int runCounter = 0;
bool finish = false;
{
auto commandPtr =
TrackDestroyCommand([&destructionCounter] { destructionCounter++; })
.AlongWith(
frc2::InstantCommand([&runCounter] { runCounter++; }).ToPtr())
.Until([&finish] { return finish; });
EXPECT_EQ(destructionCounter, 0) << "Composition should not delete command";
scheduler.Schedule(std::move(commandPtr));
EXPECT_EQ(destructionCounter, 0)
<< "Scheduling should not delete CommandPtr";
}
EXPECT_EQ(destructionCounter, 0)
<< "Scheduler should own CommandPtr after scheduling";
scheduler.Run();
EXPECT_EQ(runCounter, 1);
EXPECT_EQ(destructionCounter, 0) << "Scheduler should not destroy CommandPtr "
"until command lifetime is complete";
finish = true;
scheduler.Run();
EXPECT_EQ(runCounter, 1);
EXPECT_EQ(destructionCounter, 1)
<< "Scheduler should delete command after command completes";
}