Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
View File

@@ -144,12 +144,12 @@ void CommandScheduler::Schedule(bool interruptible, Command* command) {
}
command->Initialize();
m_impl->scheduledCommands[command] = CommandState{interruptible};
for (auto&& action : m_impl->initActions) {
action(*command);
}
for (auto&& requirement : requirements) {
m_impl->requirements[requirement] = command;
}
for (auto&& action : m_impl->initActions) {
action(*command);
}
m_watchdog.AddEpoch(command->GetName() + ".Initialize()");
}
}

32
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
View File

@@ -209,30 +209,36 @@ class CommandScheduler final : public frc::Sendable,
Command* GetDefaultCommand(const Subsystem* subsystem) const;
/**
* Cancels a command. 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 Command::End()
* method of the canceled command with true, indicating they were
* canceled (as opposed to finishing normally).
*
* @param command the command to cancel
* <p>Commands will be canceled even if they are not scheduled as
* interruptible.
*
* @param commands the commands to cancel
*/
void Cancel(Command* command);
/**
* 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 Command::End()
* method of the canceled command with 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
*/
void Cancel(wpi::ArrayRef<Command*> commands);
/**
* 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 Command::End()
* method of the canceled command with 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
*/