[commands] Add property tests for command compositions (#4715)

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java

@@ -19,6 +19,7 @@ public class ParallelCommandGroup 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 InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
 
   /**
    * Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The
@@ -50,6 +51,9 @@ public class ParallelCommandGroup extends CommandGroupBase {
       m_commands.put(command, false);
       m_requirements.addAll(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();
+      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
+      }
     }
   }
 
@@ -95,4 +99,9 @@ public class ParallelCommandGroup extends CommandGroupBase {
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    return m_interruptBehavior;
+  }
 }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java

@@ -22,6 +22,7 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
   private boolean m_runWhenDisabled = true;
   private boolean m_finished = true;
   private Command m_deadline;
+  private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
 
   /**
    * Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be
@@ -72,6 +73,9 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
       m_commands.put(command, false);
       m_requirements.addAll(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();
+      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
+      }
     }
   }
 
@@ -119,4 +123,9 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    return m_interruptBehavior;
+  }
 }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java

@@ -20,6 +20,7 @@ public class ParallelRaceGroup extends CommandGroupBase {
   private final Set<Command> m_commands = new HashSet<>();
   private boolean m_runWhenDisabled = true;
   private boolean m_finished = true;
+  private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
 
   /**
    * Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will
@@ -51,6 +52,9 @@ public class ParallelRaceGroup extends CommandGroupBase {
       m_commands.add(command);
       m_requirements.addAll(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();
+      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
+      }
     }
   }
 
@@ -88,4 +92,9 @@ public class ParallelRaceGroup extends CommandGroupBase {
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    return m_interruptBehavior;
+  }
 }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java

@@ -31,6 +31,8 @@ public class SelectCommand extends CommandBase {
   private final Supplier<Object> m_selector;
   private final Supplier<Command> m_toRun;
   private Command m_selectedCommand;
+  private boolean m_runsWhenDisabled = true;
+  private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
 
   /**
    * Creates a new selectcommand.
@@ -50,6 +52,10 @@ public class SelectCommand extends CommandBase {
 
     for (Command command : m_commands.values()) {
       m_requirements.addAll(command.getRequirements());
+      m_runsWhenDisabled &= command.runsWhenDisabled();
+      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
+      }
     }
   }
 
@@ -62,6 +68,10 @@ public class SelectCommand extends CommandBase {
     m_commands = null;
     m_selector = null;
     m_toRun = requireNonNullParam(toRun, "toRun", "SelectCommand");
+
+    // we have no way of checking the underlying command, so default.
+    m_runsWhenDisabled = false;
+    m_interruptBehavior = InterruptionBehavior.kCancelSelf;
   }
 
   @Override
@@ -97,14 +107,11 @@ public class SelectCommand extends CommandBase {
 
   @Override
   public boolean runsWhenDisabled() {
-    if (m_commands != null) {
-      boolean runsWhenDisabled = true;
-      for (Command command : m_commands.values()) {
-        runsWhenDisabled &= command.runsWhenDisabled();
-      }
-      return runsWhenDisabled;
-    } else {
-      return m_toRun.get().runsWhenDisabled();
-    }
+    return m_runsWhenDisabled;
+  }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    return m_interruptBehavior;
   }
 }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java

@@ -18,6 +18,7 @@ public class SequentialCommandGroup extends CommandGroupBase {
   private final List<Command> m_commands = new ArrayList<>();
   private int m_currentCommandIndex = -1;
   private boolean m_runWhenDisabled = true;
+  private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
 
   /**
    * Creates a new SequentialCommandGroup. The given commands will be run sequentially, with the
@@ -44,6 +45,9 @@ public class SequentialCommandGroup extends CommandGroupBase {
       m_commands.add(command);
       m_requirements.addAll(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();
+      if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
+        m_interruptBehavior = InterruptionBehavior.kCancelSelf;
+      }
     }
   }
 
@@ -94,4 +98,9 @@ public class SequentialCommandGroup extends CommandGroupBase {
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public InterruptionBehavior getInterruptionBehavior() {
+    return m_interruptBehavior;
+  }
 }