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Fix new CommandScheduler.cancelAll() (#2251)

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When called outside the run loop, it would result in a CME in Java.
This commit is contained in:
Peter Johnson
2020-01-10 16:10:16 -08:00
committed by GitHub
parent 10e8fdb724
commit bf7012fa2d
5 changed files with 45 additions and 6 deletions
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4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -375,7 +375,7 @@ public final class CommandScheduler implements Sendable {
* Cancels all commands that are currently scheduled.
*/
public void cancelAll() {
for (Command command : m_scheduledCommands.keySet()) {
for (Command command : m_scheduledCommands.keySet().toArray(new Command[0])) {
cancel(command);
}
}

5
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -15,6 +15,7 @@
#include <hal/HALBase.h>
#include <networktables/NetworkTableEntry.h>
#include <wpi/DenseMap.h>
#include <wpi/SmallVector.h>
#include "frc2/command/CommandGroupBase.h"
#include "frc2/command/CommandState.h"
@@ -310,9 +311,11 @@ void CommandScheduler::Cancel(std::initializer_list<Command*> commands) {
}
void CommandScheduler::CancelAll() {
wpi::SmallVector<Command*, 16> commands;
for (auto&& command : m_impl->scheduledCommands) {
Cancel(command.first);
commands.emplace_back(command.first);
}
Cancel(commands);
}
double CommandScheduler::TimeSinceScheduled(const Command* command) const {

2
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */

20
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -54,4 +54,22 @@ class SchedulerTest extends CommandTestBase {
scheduler.registerSubsystem(system);
assertDoesNotThrow(() -> scheduler.unregisterSubsystem(system));
}
@Test
void schedulerCancelAllTest() {
CommandScheduler scheduler = new CommandScheduler();
Counter counter = new Counter();
scheduler.onCommandInterrupt(command -> counter.increment());
Command command = new WaitCommand(10);
Command command2 = new WaitCommand(10);
scheduler.schedule(command);
scheduler.schedule(command2);
scheduler.cancelAll();
assertEquals(counter.m_counter, 2);
}
}

20
wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -54,3 +54,21 @@ TEST_F(SchedulerTest, UnregisterSubsystemTest) {
EXPECT_NO_FATAL_FAILURE(scheduler.UnregisterSubsystem(&system));
}
TEST_F(SchedulerTest, SchedulerCancelAllTest) {
CommandScheduler scheduler = GetScheduler();
RunCommand command([] {}, {});
RunCommand command2([] {}, {});
int counter = 0;
scheduler.OnCommandInterrupt([&counter](const Command&) { counter++; });
scheduler.Schedule(&command);
scheduler.Schedule(&command2);
scheduler.Run();
scheduler.CancelAll();
EXPECT_EQ(counter, 2);
}