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[commands] Add until() as alias for withInterrupt() (#3981)

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This is a clearer description for the functionality.
Will deprecate withInterrupt next year.
This commit is contained in:
Oblarg
2022-02-04 01:14:52 -05:00
committed by GitHub
parent 16bf2c70c5
commit 6a6366b0d6
12 changed files with 50 additions and 14 deletions
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4
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
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@@ -39,11 +39,11 @@ class CommandDecoratorTest extends CommandTestBase {
}
@Test
void withInterruptTest() {
void untilTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
ConditionHolder condition = new ConditionHolder();
Command command = new WaitCommand(10).withInterrupt(condition::getCondition);
Command command = new WaitCommand(10).until(condition::getCondition);
scheduler.schedule(command);
scheduler.run();

2
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
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@@ -40,7 +40,7 @@ class CommandGroupErrorTest extends CommandTestBase {
void redecoratedCommandErrorTest() {
Command command = new InstantCommand();
assertDoesNotThrow(() -> command.withTimeout(10).withInterrupt(() -> false));
assertDoesNotThrow(() -> command.withTimeout(10).until(() -> false));
assertThrows(IllegalArgumentException.class, () -> command.withTimeout(10));
CommandGroupBase.clearGroupedCommand(command);
assertDoesNotThrow(() -> command.withTimeout(10));

5
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
View File

@@ -34,13 +34,12 @@ TEST_F(CommandDecoratorTest, WithTimeout) {
frc::sim::ResumeTiming();
}
TEST_F(CommandDecoratorTest, WithInterrupt) {
TEST_F(CommandDecoratorTest, Until) {
CommandScheduler scheduler = GetScheduler();
bool finished = false;
auto command =
RunCommand([] {}, {}).WithInterrupt([&finished] { return finished; });
auto command = RunCommand([] {}, {}).Until([&finished] { return finished; });
scheduler.Schedule(&command);