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This commit is contained in:
PJ Reiniger
2025-11-07 19:57:21 -05:00
committed by Peter Johnson
parent c89910b7c6
commit c48b722dac
650 changed files with 1529 additions and 1545 deletions
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10
commandsv2/src/main/java/org/wpilib/command2/Command.java
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@@ -7,16 +7,16 @@ package org.wpilib.command2;
import static org.wpilib.units.Units.Seconds;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.units.measure.Time;
import org.wpilib.util.function.BooleanConsumer;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import java.util.Collection;
import java.util.HashSet;
import java.util.Set;
import java.util.function.BooleanSupplier;
import org.wpilib.annotation.NoDiscard;
import org.wpilib.units.measure.Time;
import org.wpilib.util.function.BooleanConsumer;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* A state machine representing a complete action to be performed by the robot. Commands are run by

22
commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java
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@@ -6,17 +6,6 @@ package org.wpilib.command2;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.opmode.RobotBase;
import org.wpilib.opmode.RobotState;
import org.wpilib.opmode.TimedRobot;
import org.wpilib.system.Watchdog;
import org.wpilib.event.EventLoop;
import org.wpilib.command2.Command.InterruptionBehavior;
import java.io.PrintWriter;
import java.io.StringWriter;
import java.util.ArrayList;
@@ -33,6 +22,17 @@ import java.util.Set;
import java.util.WeakHashMap;
import java.util.function.BiConsumer;
import java.util.function.Consumer;
import org.wpilib.command2.Command.InterruptionBehavior;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.opmode.RobotBase;
import org.wpilib.opmode.RobotState;
import org.wpilib.opmode.TimedRobot;
import org.wpilib.system.Watchdog;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* The scheduler responsible for running {@link Command}s. A Command-based robot should call {@link

2
commandsv2/src/main/java/org/wpilib/command2/Commands.java
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@@ -6,11 +6,11 @@ package org.wpilib.command2;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.units.measure.Time;
import java.util.Map;
import java.util.Set;
import java.util.function.BooleanSupplier;
import java.util.function.Supplier;
import org.wpilib.units.measure.Time;
/**
* Namespace for command factory methods.

2
commandsv2/src/main/java/org/wpilib/command2/ConditionalCommand.java
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@@ -6,8 +6,8 @@ package org.wpilib.command2;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.util.sendable.SendableBuilder;
import java.util.function.BooleanSupplier;
import org.wpilib.util.sendable.SendableBuilder;
/**
* A command composition that runs one of two commands, depending on the value of the given

2
commandsv2/src/main/java/org/wpilib/command2/DeferredCommand.java
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@@ -6,9 +6,9 @@ package org.wpilib.command2;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.util.sendable.SendableBuilder;
import java.util.Set;
import java.util.function.Supplier;
import org.wpilib.util.sendable.SendableBuilder;
/**
* Defers Command construction to runtime. Runs the command returned by a supplier when this command

2
commandsv2/src/main/java/org/wpilib/command2/ParallelDeadlineGroup.java
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@@ -4,10 +4,10 @@
package org.wpilib.command2;
import org.wpilib.util.sendable.SendableBuilder;
import java.util.Collections;
import java.util.LinkedHashMap;
import java.util.Map;
import org.wpilib.util.sendable.SendableBuilder;
/**
* A command composition that runs a set of commands in parallel, ending only when a specific

2
commandsv2/src/main/java/org/wpilib/command2/ProxyCommand.java
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@@ -6,8 +6,8 @@ package org.wpilib.command2;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.util.sendable.SendableBuilder;
import java.util.function.Supplier;
import org.wpilib.util.sendable.SendableBuilder;
/**
* Schedules a given command when this command is initialized and ends when it ends, but does not

2
commandsv2/src/main/java/org/wpilib/command2/SelectCommand.java
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@@ -6,9 +6,9 @@ package org.wpilib.command2;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.util.sendable.SendableBuilder;
import java.util.Map;
import java.util.function.Supplier;
import org.wpilib.util.sendable.SendableBuilder;
/**
* A command composition that runs one of a selection of commands using a selector and a key to

2
commandsv2/src/main/java/org/wpilib/command2/SequentialCommandGroup.java
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@@ -4,9 +4,9 @@
package org.wpilib.command2;
import org.wpilib.util.sendable.SendableBuilder;
import java.util.ArrayList;
import java.util.List;
import org.wpilib.util.sendable.SendableBuilder;
/**
* A command composition that runs a list of commands in sequence.

2
commandsv2/src/main/java/org/wpilib/command2/WaitCommand.java
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@@ -6,10 +6,10 @@ package org.wpilib.command2;
import static org.wpilib.units.Units.Seconds;
import org.wpilib.system.Timer;
import org.wpilib.units.measure.Time;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.system.Timer;
/**
* A command that does nothing but takes a specified amount of time to finish.

2
commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.java
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@@ -6,8 +6,8 @@ package org.wpilib.command2;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.system.Timer;
import java.util.function.BooleanSupplier;
import org.wpilib.system.Timer;
/**
* A command that does nothing but ends after a specified match time or condition. Useful for

2
commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java
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@@ -4,9 +4,9 @@
package org.wpilib.command2.button;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.Gamepad;
import org.wpilib.event.EventLoop;
import org.wpilib.command2.CommandScheduler;
/**
* A version of {@link Gamepad} with {@link Trigger} factories for command-based.

8
commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java
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@@ -4,13 +4,13 @@
package org.wpilib.command2.button;
import org.wpilib.math.util.Pair;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.event.EventLoop;
import org.wpilib.command2.CommandScheduler;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.math.util.Pair;
/**
* A version of {@link GenericHID} with {@link Trigger} factories for command-based.

2
commandsv2/src/main/java/org/wpilib/command2/button/CommandJoystick.java
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@@ -4,9 +4,9 @@
package org.wpilib.command2.button;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.Joystick;
import org.wpilib.event.EventLoop;
import org.wpilib.command2.CommandScheduler;
/**
* A version of {@link Joystick} with {@link Trigger} factories for command-based.

6
commandsv2/src/main/java/org/wpilib/command2/button/Trigger.java
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@@ -6,11 +6,11 @@ package org.wpilib.command2.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.math.filter.Debouncer;
import org.wpilib.event.EventLoop;
import java.util.function.BooleanSupplier;
import org.wpilib.command2.Command;
import org.wpilib.command2.CommandScheduler;
import java.util.function.BooleanSupplier;
import org.wpilib.event.EventLoop;
import org.wpilib.math.filter.Debouncer;
/**
* This class provides an easy way to link commands to conditions.

14
commandsv2/src/main/java/org/wpilib/command2/sysid/SysIdRoutine.java
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@@ -4,21 +4,21 @@
package org.wpilib.command2.sysid;
import static java.util.Map.entry;
import static org.wpilib.units.Units.Second;
import static org.wpilib.units.Units.Seconds;
import static org.wpilib.units.Units.Volts;
import static java.util.Map.entry;
import java.util.Map;
import java.util.function.Consumer;
import org.wpilib.command2.Command;
import org.wpilib.command2.Subsystem;
import org.wpilib.sysid.SysIdRoutineLog;
import org.wpilib.system.Timer;
import org.wpilib.units.VoltageUnit;
import org.wpilib.units.measure.Time;
import org.wpilib.units.measure.Velocity;
import org.wpilib.units.measure.Voltage;
import org.wpilib.system.Timer;
import org.wpilib.sysid.SysIdRoutineLog;
import org.wpilib.command2.Command;
import org.wpilib.command2.Subsystem;
import java.util.Map;
import java.util.function.Consumer;
/**
* A SysId characterization routine for a single mechanism. Mechanisms may have multiple motors.

4
commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java
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@@ -4,11 +4,11 @@
package org.wpilib;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.DriverStationSim;
import org.junit.jupiter.api.extension.BeforeAllCallback;
import org.junit.jupiter.api.extension.ExtensionContext;
import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.DriverStationSim;
public final class MockHardwareExtension implements BeforeAllCallback {
private static ExtensionContext getRoot(ExtensionContext context) {

4
commandsv2/src/test/java/org/wpilib/command2/CommandDecoratorTest.java
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@@ -9,12 +9,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.SimHooks;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.SimHooks;
class CommandDecoratorTest extends CommandTestBase {
@Test

2
commandsv2/src/test/java/org/wpilib/command2/CommandScheduleTest.java
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@@ -11,9 +11,9 @@ import static org.mockito.Mockito.never;
import static org.mockito.Mockito.times;
import static org.mockito.Mockito.verify;
import org.junit.jupiter.api.Test;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.smartdashboard.SmartDashboard;
import org.junit.jupiter.api.Test;
class CommandScheduleTest extends CommandTestBase {
@Test

6
commandsv2/src/test/java/org/wpilib/command2/CommandSendableButtonTest.java
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@@ -8,13 +8,13 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.wpilib.networktables.BooleanPublisher;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.smartdashboard.SmartDashboard;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.wpilib.networktables.BooleanPublisher;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.smartdashboard.SmartDashboard;
class CommandSendableButtonTest extends CommandTestBase {
private NetworkTableInstance m_inst;

6
commandsv2/src/test/java/org/wpilib/command2/CommandTestBase.java
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@@ -7,11 +7,11 @@ package org.wpilib.command2;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.when;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.simulation.DriverStationSim;
import org.wpilib.command2.Command.InterruptionBehavior;
import java.util.Set;
import org.junit.jupiter.api.BeforeEach;
import org.wpilib.command2.Command.InterruptionBehavior;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.simulation.DriverStationSim;
/** Basic setup for all {@link Command tests}. */
public class CommandTestBase {

2
commandsv2/src/test/java/org/wpilib/command2/ConditionalCommandTest.java
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@@ -10,13 +10,13 @@ import static org.junit.jupiter.params.provider.Arguments.arguments;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import org.wpilib.command2.Command.InterruptionBehavior;
import java.util.function.BooleanSupplier;
import java.util.stream.Stream;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.wpilib.command2.Command.InterruptionBehavior;
class ConditionalCommandTest extends CommandTestBase {
@Test

2
commandsv2/src/test/java/org/wpilib/command2/MultiCompositionTestBase.java
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@@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.params.provider.Arguments.arguments;
import org.wpilib.command2.Command.InterruptionBehavior;
import java.util.stream.Stream;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.wpilib.command2.Command.InterruptionBehavior;
abstract class MultiCompositionTestBase<T extends Command> extends SingleCompositionTestBase<T> {
abstract T compose(Command... members);

4
commandsv2/src/test/java/org/wpilib/command2/NotifierCommandTest.java
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@@ -6,13 +6,13 @@ package org.wpilib.command2;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.SimHooks;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.SimHooks;
class NotifierCommandTest extends CommandTestBase {
@BeforeEach

2
commandsv2/src/test/java/org/wpilib/command2/RobotDisabledCommandTest.java
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@@ -4,9 +4,9 @@
package org.wpilib.command2;
import static org.wpilib.command2.Commands.parallel;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.wpilib.command2.Commands.parallel;
import java.util.Map;
import org.junit.jupiter.api.Test;

2
commandsv2/src/test/java/org/wpilib/command2/SchedulingRecursionTest.java
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@@ -9,12 +9,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.wpilib.command2.Command.InterruptionBehavior;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
import org.wpilib.command2.Command.InterruptionBehavior;
class SchedulingRecursionTest extends CommandTestBase {
/**

4
commandsv2/src/test/java/org/wpilib/command2/WaitCommandTest.java
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@@ -12,12 +12,12 @@ import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import static org.mockito.Mockito.when;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.SimHooks;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.SimHooks;
class WaitCommandTest extends CommandTestBase {
@BeforeEach

6
commandsv2/src/test/java/org/wpilib/command2/button/NetworkButtonTest.java
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@@ -7,12 +7,12 @@ package org.wpilib.command2.button;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.command2.CommandTestBase;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.command2.CommandTestBase;
import org.wpilib.networktables.NetworkTableInstance;
class NetworkButtonTest extends CommandTestBase {
NetworkTableInstance m_inst;

4
commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java
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@@ -6,9 +6,9 @@ package org.wpilib.command2.button;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.wpilib.simulation.DriverStationSim;
import org.wpilib.command2.CommandTestBase;
import org.junit.jupiter.api.Test;
import org.wpilib.command2.CommandTestBase;
import org.wpilib.simulation.DriverStationSim;
class RobotModeTriggersTest extends CommandTestBase {
@Test

10
commandsv2/src/test/java/org/wpilib/command2/button/TriggerTest.java
View File

@@ -10,7 +10,10 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import org.wpilib.simulation.SimHooks;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.function.BooleanSupplier;
import org.junit.jupiter.api.Test;
import org.wpilib.command2.Command;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.command2.CommandTestBase;
@@ -18,10 +21,7 @@ import org.wpilib.command2.FunctionalCommand;
import org.wpilib.command2.RunCommand;
import org.wpilib.command2.StartEndCommand;
import org.wpilib.command2.WaitUntilCommand;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.function.BooleanSupplier;
import org.junit.jupiter.api.Test;
import org.wpilib.simulation.SimHooks;
class TriggerTest extends CommandTestBase {
@Test

14
commandsv2/src/test/java/org/wpilib/command2/sysid/SysIdRoutineTest.java
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@@ -4,7 +4,6 @@
package org.wpilib.command2.sysid;
import static org.wpilib.units.Units.Volts;
import static org.mockito.ArgumentMatchers.any;
import static org.mockito.Mockito.atLeastOnce;
import static org.mockito.Mockito.clearInvocations;
@@ -12,16 +11,17 @@ import static org.mockito.Mockito.inOrder;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import static org.wpilib.units.Units.Volts;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.units.measure.Voltage;
import org.wpilib.simulation.SimHooks;
import org.wpilib.sysid.SysIdRoutineLog;
import org.wpilib.command2.Command;
import org.wpilib.command2.Subsystem;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.wpilib.command2.Command;
import org.wpilib.command2.Subsystem;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.SimHooks;
import org.wpilib.sysid.SysIdRoutineLog;
import org.wpilib.units.measure.Voltage;
class SysIdRoutineTest {
interface Mechanism extends Subsystem {