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[commands] Fix compose-while-scheduled issue and test all compositions (#5581)

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This commit is contained in:
Ryan Blue
2023-12-23 15:12:13 -05:00
committed by GitHub
parent aeb1a4aa33
commit ef1cb3f41e
20 changed files with 146 additions and 83 deletions
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23
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -477,6 +477,29 @@ void CommandScheduler::RequireUngrouped(
}
}
void CommandScheduler::RequireUngroupedAndUnscheduled(const Command* command) {
if (IsScheduled(command)) {
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Commands that have been scheduled individually may "
"not be added to another composition!");
}
RequireUngrouped(command);
}
void CommandScheduler::RequireUngroupedAndUnscheduled(
std::span<const std::unique_ptr<Command>> commands) {
for (auto&& command : commands) {
RequireUngroupedAndUnscheduled(command.get());
}
}
void CommandScheduler::RequireUngroupedAndUnscheduled(
std::initializer_list<const Command*> commands) {
for (auto&& command : commands) {
RequireUngroupedAndUnscheduled(command);
}
}
void CommandScheduler::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
builder.AddStringArrayProperty(

2
wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
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@@ -12,7 +12,7 @@ ConditionalCommand::ConditionalCommand(std::unique_ptr<Command>&& onTrue,
std::unique_ptr<Command>&& onFalse,
std::function<bool()> condition)
: m_condition{std::move(condition)} {
CommandScheduler::GetInstance().RequireUngrouped(
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(
{onTrue.get(), onFalse.get()});
m_onTrue = std::move(onTrue);

2
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
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@@ -63,7 +63,7 @@ Command::InterruptionBehavior ParallelCommandGroup::GetInterruptionBehavior()
void ParallelCommandGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
CommandScheduler::GetInstance().RequireUngrouped(commands);
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (isRunning) {
throw FRC_MakeError(frc::err::CommandIllegalUse,

2
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
View File

@@ -62,7 +62,7 @@ Command::InterruptionBehavior ParallelDeadlineGroup::GetInterruptionBehavior()
void ParallelDeadlineGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
CommandScheduler::GetInstance().RequireUngrouped(commands);
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (!m_finished) {
throw FRC_MakeError(frc::err::CommandIllegalUse,

2
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
View File

@@ -50,7 +50,7 @@ Command::InterruptionBehavior ParallelRaceGroup::GetInterruptionBehavior()
void ParallelRaceGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
CommandScheduler::GetInstance().RequireUngrouped(commands);
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (isRunning) {
throw FRC_MakeError(frc::err::CommandIllegalUse,

2
wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
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@@ -9,7 +9,7 @@
using namespace frc2;
RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
CommandScheduler::GetInstance().RequireUngrouped(command.get());
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(command.get());
m_command = std::move(command);
m_command->SetComposed(true);
AddRequirements(m_command->GetRequirements());

2
wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
View File

@@ -62,7 +62,7 @@ Command::InterruptionBehavior SequentialCommandGroup::GetInterruptionBehavior()
void SequentialCommandGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
CommandScheduler::GetInstance().RequireUngrouped(commands);
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (m_currentCommandIndex != invalid_index) {
throw FRC_MakeError(frc::err::CommandIllegalUse,

2
wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
View File

@@ -9,7 +9,7 @@
using namespace frc2;
WrapperCommand::WrapperCommand(std::unique_ptr<Command>&& command) {
CommandScheduler::GetInstance().RequireUngrouped(command.get());
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(command.get());
m_command = std::move(command);
m_command->SetComposed(true);
// copy the wrapped command's name

38
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
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@@ -374,7 +374,7 @@ class CommandScheduler final : public wpi::Sendable,
void OnCommandFinish(Action action);
/**
* Requires that the specified command hasn't been already added to a
* Requires that the specified command hasn't already been added to a
* composition.
*
* @param command The command to check
@@ -383,7 +383,7 @@ class CommandScheduler final : public wpi::Sendable,
void RequireUngrouped(const Command* command);
/**
* Requires that the specified commands not have been already added to a
* Requires that the specified commands have not already been added to a
* composition.
*
* @param commands The commands to check
@@ -392,7 +392,7 @@ class CommandScheduler final : public wpi::Sendable,
void RequireUngrouped(std::span<const std::unique_ptr<Command>> commands);
/**
* Requires that the specified commands not have been already added to a
* Requires that the specified commands have not already been added to a
* composition.
*
* @param commands The commands to check
@@ -401,6 +401,38 @@ class CommandScheduler final : public wpi::Sendable,
*/
void RequireUngrouped(std::initializer_list<const Command*> commands);
/**
* Requires that the specified command has not already been added to a
* composition and is not currently scheduled.
*
* @param command The command to check
* @throws IllegalArgumentException if the given command has already been
* composed or scheduled.
*/
void RequireUngroupedAndUnscheduled(const Command* command);
/**
* Requires that the specified commands have not already been added to a
* composition and are not currently scheduled.
*
* @param commands The commands to check
* @throws IllegalArgumentException if the given commands have already been
* composed.
*/
void RequireUngroupedAndUnscheduled(
std::span<const std::unique_ptr<Command>> commands);
/**
* Requires that the specified commands have not already been added to a
* composition and are not currently scheduled.
*
* @param commands The commands to check
* @throws IllegalArgumentException if the given commands have already been
* composed or scheduled.
*/
void RequireUngroupedAndUnscheduled(
std::initializer_list<const Command*> commands);
void InitSendable(wpi::SendableBuilder& builder) override;
private:

6
wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
View File

@@ -56,7 +56,8 @@ class SelectCommand : public CommandHelper<Command, SelectCommand<Key>> {
m_defaultCommand.SetComposed(true);
for (auto&& command : foo) {
CommandScheduler::GetInstance().RequireUngrouped(command.second.get());
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(
command.second.get());
command.second.get()->SetComposed(true);
}
@@ -77,7 +78,8 @@ class SelectCommand : public CommandHelper<Command, SelectCommand<Key>> {
: m_selector{std::move(selector)} {
m_defaultCommand.SetComposed(true);
for (auto&& command : commands) {
CommandScheduler::GetInstance().RequireUngrouped(command.second.get());
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(
command.second.get());
command.second.get()->SetComposed(true);
}