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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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31
commandsv3/src/test/java/org/wpilib/command3/TriggerTest.java
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@@ -17,7 +17,7 @@ class TriggerTest extends CommandTestBase {
void onTrue() {
var signal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, signal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.onTrue(command);
signal.set(true);
@@ -34,7 +34,7 @@ class TriggerTest extends CommandTestBase {
void onFalse() {
var signal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, signal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.onFalse(command);
m_scheduler.run();
@@ -51,7 +51,7 @@ class TriggerTest extends CommandTestBase {
void whileTrue() {
var signal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, signal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.whileTrue(command);
signal.set(true);
@@ -68,7 +68,7 @@ class TriggerTest extends CommandTestBase {
void whileFalse() {
var signal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, signal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.whileFalse(command);
m_scheduler.run();
@@ -84,7 +84,7 @@ class TriggerTest extends CommandTestBase {
void toggleOnTrue() {
var signal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, signal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.toggleOnTrue(command);
m_scheduler.run();
@@ -107,7 +107,7 @@ class TriggerTest extends CommandTestBase {
void toggleOnFalse() {
var signal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, signal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.toggleOnFalse(command);
m_scheduler.run();
@@ -128,8 +128,7 @@ class TriggerTest extends CommandTestBase {
var innerSignal = new AtomicBoolean(false);
var inner =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
while (true) {
innerRan.set(true);
@@ -139,8 +138,7 @@ class TriggerTest extends CommandTestBase {
.named("Inner");
var outer =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
new Trigger(m_scheduler, innerSignal::get).onTrue(inner);
// If we yield, then the outer command exits and immediately cancels the
@@ -170,7 +168,7 @@ class TriggerTest extends CommandTestBase {
var triggerSignal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, triggerSignal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.addBinding(scope, BindingType.RUN_WHILE_HIGH, command);
triggerSignal.set(true);
@@ -209,7 +207,7 @@ class TriggerTest extends CommandTestBase {
var triggerSignal = new AtomicBoolean(false);
var trigger = new Trigger(m_scheduler, triggerSignal::get);
var command = Command.noRequirements().executing(Coroutine::park).named("Command");
var command = Command.noRequirements(Coroutine::park).named("Command");
trigger.whileTrue(command);
triggerSignal.set(true);
@@ -230,8 +228,7 @@ class TriggerTest extends CommandTestBase {
var triggeredCommandRan = new AtomicBoolean(false);
var inner =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
triggeredCommandRan.set(true);
co.park();
@@ -239,8 +236,7 @@ class TriggerTest extends CommandTestBase {
.named("Inner");
var awaited =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
co.yield();
condition.set(true);
@@ -248,8 +244,7 @@ class TriggerTest extends CommandTestBase {
.named("Awaited");
var outer =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
new Trigger(m_scheduler, condition::get).onTrue(inner);
co.await(awaited);