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[cmd3] Change Command.noRequirements to accept a command implementation (#8783)

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This is more ergonomic than `Command.noRequirements().executing(...)`
This commit is contained in:
Sam Carlberg
2026-04-19 18:40:50 -04:00
committed by GitHub
parent 3eaeac6150
commit b7df267687
19 changed files with 121 additions and 172 deletions
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24
commandsv3/src/test/java/org/wpilib/command3/SchedulerConflictTests.java
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@@ -20,8 +20,7 @@ class SchedulerConflictTests extends CommandTestBase {
var mech = new Mechanism("The Mechanism", m_scheduler);
var group =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
co.awaitAll(
mech.run(Coroutine::park).named("First"),
@@ -64,8 +63,7 @@ class SchedulerConflictTests extends CommandTestBase {
.named("Second");
var group =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
co.fork(first);
co.fork(second);
@@ -88,25 +86,21 @@ class SchedulerConflictTests extends CommandTestBase {
void nestedOneShotCompositionsAllRunInOneCycle() {
var runs = new AtomicInteger(0);
Supplier<Command> makeOneShot =
() -> Command.noRequirements().executing(_c -> runs.incrementAndGet()).named("One Shot");
() -> Command.noRequirements(_c -> runs.incrementAndGet()).named("One Shot");
var command =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
co.fork(makeOneShot.get());
co.fork(makeOneShot.get());
co.fork(
Command.noRequirements()
.executing(inner -> inner.fork(makeOneShot.get()))
Command.noRequirements(inner -> inner.fork(makeOneShot.get()))
.named("Inner"));
co.fork(
Command.noRequirements()
.executing(
Command.noRequirements(
co2 -> {
co2.fork(makeOneShot.get());
co2.fork(
Command.noRequirements()
.executing(
Command.noRequirements(
co3 -> {
co3.fork(makeOneShot.get());
})
@@ -130,7 +124,7 @@ class SchedulerConflictTests extends CommandTestBase {
// Child conflicts with and is lower priority than the Top command
// It should not be scheduled, and the parent command should exit immediately
var child = mechanism.run(Coroutine::park).named("Child");
var parent = Command.noRequirements().executing(co -> co.await(child)).named("Parent");
var parent = Command.noRequirements(co -> co.await(child)).named("Parent");
m_scheduler.schedule(top);
m_scheduler.schedule(parent);
@@ -149,7 +143,7 @@ class SchedulerConflictTests extends CommandTestBase {
// Child conflicts with and is higher priority than the Top command
// It should be scheduled, and the top command should be interrupted
var child = mechanism.run(Coroutine::park).named("Child");
var parent = Command.noRequirements().executing(co -> co.await(child)).named("Parent");
var parent = Command.noRequirements(co -> co.await(child)).named("Parent");
m_scheduler.schedule(top);
m_scheduler.schedule(parent);