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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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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);
}
}