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[command] Make cancel safe to call from initialize (#2440)

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Fixes #2388.
This commit is contained in:
Starlight220
2020-05-21 07:00:34 +03:00
committed by GitHub
parent 27f9a21a2c
commit 92380485c8
3 changed files with 32 additions and 23 deletions
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17
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -140,15 +140,16 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
* @param requirements The command requirements
*/
private void initCommand(Command command, boolean interruptible, Set<Subsystem> requirements) {
command.initialize();
CommandState scheduledCommand = new CommandState(interruptible);
m_scheduledCommands.put(command, scheduledCommand);
for (Consumer<Command> action : m_initActions) {
action.accept(command);
}
command.initialize();
for (Subsystem requirement : requirements) {
m_requirements.put(requirement, command);
}
for (Consumer<Command> action : m_initActions) {
action.accept(command);
}
m_watchdog.addEpoch(command.getName() + ".initialize()");
}
@@ -381,9 +382,11 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
}
/**
* Cancels commands. The scheduler will only call the interrupted method of a canceled command,
* not the end method (though the interrupted method may itself call the end method). Commands
* will be canceled even if they are not scheduled as interruptible.
* Cancels commands. The scheduler will only call {@link Command#end(boolean)} method
* of the canceled command with {@code true},
* indicating they were canceled (as opposed to finishing normally).
*
* <p>Commands will be canceled even if they are not scheduled as interruptible.
*
* @param commands the commands to cancel
*/