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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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20
wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp
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@@ -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);
}