From ebd9667ba6363245ba0c4b0c312dbbb966b586f1 Mon Sep 17 00:00:00 2001
From: Patrick Plenefisch <simonpatp@gmail.com>
Date: Sat, 20 Sep 2014 23:08:44 -0400
Subject: [PATCH] Expose and fix error where old subsystems were being
 referended after use in tests

Change-Id: I50e66b3d61f5c70dee653ab3e9899f2286f3741c
---
 wpilibc/wpilibC++/include/Commands/Scheduler.h  |  1 +
 wpilibc/wpilibC++/src/Commands/Scheduler.cpp    | 17 +++++++++++++++++
 .../src/command/CommandTest.cpp                 |  8 ++++----
 3 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/wpilibc/wpilibC++/include/Commands/Scheduler.h b/wpilibc/wpilibC++/include/Commands/Scheduler.h
index 0fada5fe58..851eccf55e 100644
--- a/wpilibc/wpilibC++/include/Commands/Scheduler.h
+++ b/wpilibc/wpilibC++/include/Commands/Scheduler.h
@@ -34,6 +34,7 @@ public:
 	void Run();	
 	void Remove(Command *command);
 	void RemoveAll();
+	void ResetAll();
 	void SetEnabled(bool enabled);
 	
 	void UpdateTable();
diff --git a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
index 02eb9e9515..a064976ff0 100644
--- a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
@@ -26,6 +26,10 @@ Scheduler::Scheduler() :
 
 	m_table = NULL;
 	m_enabled = true;
+	m_runningCommandsChanged = false;
+	toCancel = NULL;
+	commands = NULL;
+	ids = NULL;
 }
 
 Scheduler::~Scheduler() {
@@ -215,6 +219,19 @@ void Scheduler::RemoveAll() {
 	}
 }
 
+/**
+ * Completely resets the scheduler. Undefined behavior if running.
+ */
+void Scheduler::ResetAll()
+{
+	RemoveAll();
+	m_subsystems.clear();
+	m_buttons.clear();
+	m_additions.clear();
+	m_commands.clear();
+	m_table = NULL;
+}
+
 /**
  * Update the network tables associated with the Scheduler object on the SmartDashboard
  */
diff --git a/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
index 80ab73f0fb..4789ddedc4 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
@@ -26,7 +26,7 @@ protected:
 	 * scope of the test.
 	 */
 	void TeardownScheduler(){
-		Scheduler::GetInstance()->RemoveAll();
+		Scheduler::GetInstance()->ResetAll();
 	}
 
 	void AssertCommandState(MockCommand &command, int initialize, int execute, int isFinished, int end, int interrupted){
@@ -224,11 +224,11 @@ TEST_F(CommandTest, ThreeCommandOnSubSystem){
 
 //CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
 TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies){
-	ASubsystem subsystem("Command Superseding Test Subsystem");
+	ASubsystem* subsystem = new ASubsystem("Command Superseding Test Subsystem");
 	MockCommand command1;
-	command1.Requires(&subsystem);
+	command1.Requires(subsystem);
 	MockCommand command2;
-	command2.Requires(&subsystem);
+	command2.Requires(subsystem);
 
 
 	AssertCommandState(command1, 0, 0, 0, 0, 0);