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[commands] Make Java SelectCommand generic (#5849)

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This allows users to use any type of map and selector without needing to explicitly match
Map<Object, Command>
This commit is contained in:
Ryan Blue
2023-10-30 14:09:14 -04:00
committed by GitHub
parent 9eecf2a456
commit a4a8ad9c75
5 changed files with 23 additions and 19 deletions
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4
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
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@@ -141,8 +141,8 @@ class RobotDisabledCommandTest extends CommandTestBase {
MockCommandHolder command4Holder = new MockCommandHolder(false);
Command command4 = command4Holder.getMock();
Command runWhenDisabled = new SelectCommand(Map.of(1, command1, 2, command2), () -> 1);
Command dontRunWhenDisabled = new SelectCommand(Map.of(1, command3, 2, command4), () -> 1);
Command runWhenDisabled = new SelectCommand<>(Map.of(1, command1, 2, command2), () -> 1);
Command dontRunWhenDisabled = new SelectCommand<>(Map.of(1, command3, 2, command4), () -> 1);
try (CommandScheduler scheduler = new CommandScheduler()) {
scheduler.schedule(runWhenDisabled, dontRunWhenDisabled);

21
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
View File

@@ -13,7 +13,8 @@ import java.util.HashMap;
import java.util.Map;
import org.junit.jupiter.api.Test;
class SelectCommandTest extends CommandTestBase implements MultiCompositionTestBase<SelectCommand> {
class SelectCommandTest extends CommandTestBase
implements MultiCompositionTestBase<SelectCommand<Integer>> {
@Test
void selectCommandTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
@@ -25,8 +26,8 @@ class SelectCommandTest extends CommandTestBase implements MultiCompositionTestB
MockCommandHolder command3Holder = new MockCommandHolder(true);
Command command3 = command3Holder.getMock();
SelectCommand selectCommand =
new SelectCommand(
SelectCommand<String> selectCommand =
new SelectCommand<>(
Map.ofEntries(
Map.entry("one", command1),
Map.entry("two", command2),
@@ -61,8 +62,8 @@ class SelectCommandTest extends CommandTestBase implements MultiCompositionTestB
MockCommandHolder command3Holder = new MockCommandHolder(true);
Command command3 = command3Holder.getMock();
SelectCommand selectCommand =
new SelectCommand(
SelectCommand<String> selectCommand =
new SelectCommand<>(
Map.ofEntries(
Map.entry("one", command1),
Map.entry("two", command2),
@@ -88,8 +89,8 @@ class SelectCommandTest extends CommandTestBase implements MultiCompositionTestB
MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
Command command3 = command3Holder.getMock();
SelectCommand selectCommand =
new SelectCommand(
SelectCommand<String> selectCommand =
new SelectCommand<>(
Map.ofEntries(
Map.entry("one", command1),
Map.entry("two", command2),
@@ -108,11 +109,11 @@ class SelectCommandTest extends CommandTestBase implements MultiCompositionTestB
}
@Override
public SelectCommand compose(Command... members) {
var map = new HashMap<Object, Command>();
public SelectCommand<Integer> compose(Command... members) {
var map = new HashMap<Integer, Command>();
for (int i = 0; i < members.length; i++) {
map.put(i, members[i]);
}
return new SelectCommand(map, () -> 0);
return new SelectCommand<>(map, () -> 0);
}
}