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[commands] Improve error message when composing commands twice in same composition (#6091)

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Also disallow deadline command from also appearing in other commands.
This commit is contained in:
Joseph Eng
2023-12-26 18:07:16 -08:00
committed by GitHub
parent 55508706ff
commit 8aeee03626
5 changed files with 64 additions and 16 deletions
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13
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -581,10 +581,19 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
* directly or added to a composition.
*
* @param commands the commands to register
* @throws IllegalArgumentException if the given commands have already been composed.
* @throws IllegalArgumentException if the given commands have already been composed, or the array
* of commands has duplicates.
*/
public void registerComposedCommands(Command... commands) {
var commandSet = Set.of(commands);
Set<Command> commandSet;
try {
commandSet = Set.of(commands);
} catch (IllegalArgumentException e) {
throw new IllegalArgumentException(
"Cannot compose a command twice in the same composition! (Original exception: "
+ e
+ ")");
}
requireNotComposedOrScheduled(commandSet);
var exception = new Exception("Originally composed at:");
exception.fillInStackTrace();

7
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
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@@ -233,12 +233,13 @@ public final class Commands {
* the others.
*
* @param deadline the deadline command
* @param commands the commands to include
* @param otherCommands the other commands to include
* @return the command group
* @see ParallelDeadlineGroup
* @throws IllegalArgumentException if the deadline command is also in the otherCommands argument
*/
public static Command deadline(Command deadline, Command... commands) {
return new ParallelDeadlineGroup(deadline, commands);
public static Command deadline(Command deadline, Command... otherCommands) {
return new ParallelDeadlineGroup(deadline, otherCommands);
}
private Commands() {

28
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
View File

@@ -29,20 +29,18 @@ public class ParallelDeadlineGroup extends Command {
private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
/**
* Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be
* Creates a new ParallelDeadlineGroup. The given commands, including the deadline, will be
* executed simultaneously. The composition will finish when the deadline finishes, interrupting
* all other still-running commands. If the composition is interrupted, only the commands still
* running will be interrupted.
*
* @param deadline the command that determines when the composition ends
* @param commands the commands to be executed
* @param otherCommands the other commands to be executed
* @throws IllegalArgumentException if the deadline command is also in the otherCommands argument
*/
public ParallelDeadlineGroup(Command deadline, Command... commands) {
m_deadline = deadline;
addCommands(commands);
if (!m_commands.containsKey(deadline)) {
addCommands(deadline);
}
public ParallelDeadlineGroup(Command deadline, Command... otherCommands) {
addCommands(otherCommands);
setDeadline(deadline);
}
/**
@@ -50,11 +48,19 @@ public class ParallelDeadlineGroup extends Command {
* contained.
*
* @param deadline the command that determines when the group ends
* @throws IllegalArgumentException if the deadline command is already in the composition
*/
public void setDeadline(Command deadline) {
if (!m_commands.containsKey(deadline)) {
addCommands(deadline);
@SuppressWarnings("PMD.CompareObjectsWithEquals")
boolean isAlreadyDeadline = deadline == m_deadline;
if (isAlreadyDeadline) {
return;
}
if (m_commands.containsKey(deadline)) {
throw new IllegalArgumentException(
"The deadline command cannot also be in the other commands!");
}
addCommands(deadline);
m_deadline = deadline;
}
@@ -74,7 +80,7 @@ public class ParallelDeadlineGroup extends Command {
for (Command command : commands) {
if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
throw new IllegalArgumentException(
"Multiple commands in a parallel group cannot" + "require the same subsystems");
"Multiple commands in a parallel group cannot require the same subsystems");
}
m_commands.put(command, false);
m_requirements.addAll(command.getRequirements());