Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

[commands] SelectCommand: Fix leakage and multiple composition bug (#5571)

Browse Source
This commit is contained in:
Ryan Blue
2023-08-30 16:21:17 -04:00
committed by GitHub
parent 171375f440
commit cf19102c4a
2 changed files with 13 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
View File

@@ -27,6 +27,9 @@ public class SelectCommand extends Command {
private boolean m_runsWhenDisabled = true;
private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
private final Command m_defaultCommand =
new PrintCommand("SelectCommand selector value does not correspond to any command!");
/**
* Creates a new SelectCommand.
*
@@ -37,6 +40,7 @@ public class SelectCommand extends Command {
m_commands = requireNonNullParam(commands, "commands", "SelectCommand");
m_selector = requireNonNullParam(selector, "selector", "SelectCommand");
CommandScheduler.getInstance().registerComposedCommands(m_defaultCommand);
CommandScheduler.getInstance()
.registerComposedCommands(commands.values().toArray(new Command[] {}));
@@ -51,12 +55,7 @@ public class SelectCommand extends Command {
@Override
public void initialize() {
if (!m_commands.containsKey(m_selector.get())) {
m_selectedCommand =
new PrintCommand("SelectCommand selector value does not correspond to any command!");
} else {
m_selectedCommand = m_commands.get(m_selector.get());
}
m_selectedCommand = m_commands.getOrDefault(m_selector.get(), m_defaultCommand);
m_selectedCommand.initialize();
}

10
wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
View File

@@ -54,8 +54,10 @@ class SelectCommand : public CommandHelper<Command, SelectCommand<Key>> {
std::make_unique<std::decay_t<Commands>>(std::move(commands.second))),
...);
m_defaultCommand.SetComposed(true);
for (auto&& command : foo) {
CommandScheduler::GetInstance().RequireUngrouped(command.second.get());
command.second.get()->SetComposed(true);
}
for (auto&& command : foo) {
@@ -73,8 +75,10 @@ class SelectCommand : public CommandHelper<Command, SelectCommand<Key>> {
std::function<Key()> selector,
std::vector<std::pair<Key, std::unique_ptr<Command>>>&& commands)
: m_selector{std::move(selector)} {
m_defaultCommand.SetComposed(true);
for (auto&& command : commands) {
CommandScheduler::GetInstance().RequireUngrouped(command.second.get());
command.second.get()->SetComposed(true);
}
for (auto&& command : commands) {
@@ -139,14 +143,16 @@ class SelectCommand : public CommandHelper<Command, SelectCommand<Key>> {
bool m_runsWhenDisabled = true;
Command::InterruptionBehavior m_interruptBehavior{
Command::InterruptionBehavior::kCancelIncoming};
PrintCommand m_defaultCommand{
"SelectCommand selector value does not correspond to any command!"};
};
template <typename T>
void SelectCommand<T>::Initialize() {
auto find = m_commands.find(m_selector());
if (find == m_commands.end()) {
m_selectedCommand = new PrintCommand(
"SelectCommand selector value does not correspond to any command!");
m_selectedCommand = &m_defaultCommand;
} else {
m_selectedCommand = find->second.get();
}