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

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java

@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj2.command;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.junit.jupiter.api.Assertions.assertThrows;
-
-import org.junit.jupiter.api.Test;
-
-class CommandGroupErrorTest extends CommandTestBase {
-  @Test
-  void commandInMultipleGroupsTest() {
-    MockCommandHolder command1Holder = new MockCommandHolder(true);
-    Command command1 = command1Holder.getMock();
-    MockCommandHolder command2Holder = new MockCommandHolder(true);
-    Command command2 = command2Holder.getMock();
-
-    new ParallelCommandGroup(command1, command2);
-    assertThrows(
-        IllegalArgumentException.class, () -> new ParallelCommandGroup(command1, command2));
-  }
-
-  @Test
-  void commandInGroupExternallyScheduledTest() {
-    MockCommandHolder command1Holder = new MockCommandHolder(true);
-    Command command1 = command1Holder.getMock();
-    MockCommandHolder command2Holder = new MockCommandHolder(true);
-    Command command2 = command2Holder.getMock();
-
-    new ParallelCommandGroup(command1, command2);
-
-    assertThrows(
-        IllegalArgumentException.class, () -> CommandScheduler.getInstance().schedule(command1));
-  }
-
-  @Test
-  void redecoratedCommandErrorTest() {
-    Command command = new InstantCommand();
-
-    assertDoesNotThrow(() -> command.withTimeout(10).until(() -> false));
-    assertThrows(IllegalArgumentException.class, () -> command.withTimeout(10));
-    CommandScheduler.getInstance().removeComposedCommand(command);
-    assertDoesNotThrow(() -> command.withTimeout(10));
-  }
-}

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MultiCompositionTestBase.java

@@ -13,11 +13,11 @@ import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 
-interface MultiCompositionTestBase<T extends Command> extends SingleCompositionTestBase<T> {
-  T compose(Command... members);
+abstract class MultiCompositionTestBase<T extends Command> extends SingleCompositionTestBase<T> {
+  abstract T compose(Command... members);
 
   @Override
-  default T composeSingle(Command member) {
+  T composeSingle(Command member) {
     return compose(member);
   }
 
@@ -63,7 +63,7 @@ interface MultiCompositionTestBase<T extends Command> extends SingleCompositionT
 
   @MethodSource
   @ParameterizedTest(name = "interruptible[{index}]: {0}")
-  default void interruptible(
+  void interruptible(
       @SuppressWarnings("unused") String name,
       InterruptionBehavior expected,
       Command command1,
@@ -103,7 +103,7 @@ interface MultiCompositionTestBase<T extends Command> extends SingleCompositionT
 
   @MethodSource
   @ParameterizedTest(name = "runsWhenDisabled[{index}]: {0}")
-  default void runsWhenDisabled(
+  void runsWhenDisabled(
       @SuppressWarnings("unused") String name,
       boolean expected,
       Command command1,

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java

@@ -14,8 +14,7 @@ import static org.mockito.Mockito.verify;
 
 import org.junit.jupiter.api.Test;
 
-class ParallelCommandGroupTest extends CommandTestBase
-    implements MultiCompositionTestBase<ParallelCommandGroup> {
+class ParallelCommandGroupTest extends MultiCompositionTestBase<ParallelCommandGroup> {
   @Test
   void parallelGroupScheduleTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java

@@ -14,8 +14,7 @@ import static org.mockito.internal.verification.VerificationModeFactory.times;
 import java.util.Arrays;
 import org.junit.jupiter.api.Test;
 
-class ParallelDeadlineGroupTest extends CommandTestBase
-    implements MultiCompositionTestBase<ParallelDeadlineGroup> {
+class ParallelDeadlineGroupTest extends MultiCompositionTestBase<ParallelDeadlineGroup> {
   @Test
   void parallelDeadlineScheduleTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java

@@ -16,8 +16,7 @@ import static org.mockito.Mockito.verify;
 
 import org.junit.jupiter.api.Test;
 
-class ParallelRaceGroupTest extends CommandTestBase
-    implements MultiCompositionTestBase<ParallelRaceGroup> {
+class ParallelRaceGroupTest extends MultiCompositionTestBase<ParallelRaceGroup> {
   @Test
   void parallelRaceScheduleTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java

@@ -10,8 +10,7 @@ import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.Test;
 
-class RepeatCommandTest extends CommandTestBase
-    implements SingleCompositionTestBase<RepeatCommand> {
+class RepeatCommandTest extends SingleCompositionTestBase<RepeatCommand> {
   @Test
   void callsMethodsCorrectly() {
     try (CommandScheduler scheduler = new CommandScheduler()) {

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java

@@ -13,8 +13,7 @@ import java.util.HashMap;
 import java.util.Map;
 import org.junit.jupiter.api.Test;
 
-class SelectCommandTest extends CommandTestBase
-    implements MultiCompositionTestBase<SelectCommand<Integer>> {
+class SelectCommandTest extends MultiCompositionTestBase<SelectCommand<Integer>> {
   @Test
   void selectCommandTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java

@@ -12,8 +12,7 @@ import static org.mockito.Mockito.verify;
 
 import org.junit.jupiter.api.Test;
 
-class SequentialCommandGroupTest extends CommandTestBase
-    implements MultiCompositionTestBase<SequentialCommandGroup> {
+class SequentialCommandGroupTest extends MultiCompositionTestBase<SequentialCommandGroup> {
   @Test
   void sequentialGroupScheduleTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SingleCompositionTestBase.java

@@ -5,17 +5,19 @@
 package edu.wpi.first.wpilibj2.command;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
 
+import org.junit.jupiter.api.Test;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
 import org.junit.jupiter.params.provider.ValueSource;
 
-public interface SingleCompositionTestBase<T extends Command> {
-  T composeSingle(Command member);
+public abstract class SingleCompositionTestBase<T extends Command> extends CommandTestBase {
+  abstract T composeSingle(Command member);
 
   @EnumSource(Command.InterruptionBehavior.class)
   @ParameterizedTest
-  default void interruptible(Command.InterruptionBehavior interruptionBehavior) {
+  void interruptible(Command.InterruptionBehavior interruptionBehavior) {
     var command =
         composeSingle(
             new WaitUntilCommand(() -> false).withInterruptBehavior(interruptionBehavior));
@@ -24,9 +26,38 @@ public interface SingleCompositionTestBase<T extends Command> {
 
   @ValueSource(booleans = {true, false})
   @ParameterizedTest
-  default void runWhenDisabled(boolean runsWhenDisabled) {
+  void runWhenDisabled(boolean runsWhenDisabled) {
     var command =
         composeSingle(new WaitUntilCommand(() -> false).ignoringDisable(runsWhenDisabled));
     assertEquals(runsWhenDisabled, command.runsWhenDisabled());
   }
+
+  @Test
+  void commandInOtherCompositionTest() {
+    var command = new InstantCommand();
+    new WrapperCommand(command) {};
+    assertThrows(IllegalArgumentException.class, () -> composeSingle(command));
+  }
+
+  @Test
+  void commandInMultipleCompositionsTest() {
+    var command = new InstantCommand();
+    composeSingle(command);
+    assertThrows(IllegalArgumentException.class, () -> composeSingle(command));
+  }
+
+  @Test
+  void composeThenScheduleTest() {
+    var command = new InstantCommand();
+    composeSingle(command);
+    assertThrows(
+        IllegalArgumentException.class, () -> CommandScheduler.getInstance().schedule(command));
+  }
+
+  @Test
+  void scheduleThenComposeTest() {
+    var command = new RunCommand(() -> {});
+    CommandScheduler.getInstance().schedule(command);
+    assertThrows(IllegalArgumentException.class, () -> composeSingle(command));
+  }
 }