mirror of
https://github.com/wpilibsuite/allwpilib
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bb0b207d2f
The current index would be set to -1 by the execute method of ParallelRaceGroup, and then an index out of bounds exception would be thrown by the end() method of SequentialCommandGroup. This change bound checks the current command index as well as only calls end at the end of parallel race group rather than during execute.
76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc2/command/SequentialCommandGroup.h"
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using namespace frc2;
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SequentialCommandGroup::SequentialCommandGroup(
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std::vector<std::unique_ptr<Command>>&& commands) {
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AddCommands(std::move(commands));
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}
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void SequentialCommandGroup::Initialize() {
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m_currentCommandIndex = 0;
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if (!m_commands.empty()) {
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m_commands[0]->Initialize();
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}
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}
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void SequentialCommandGroup::Execute() {
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if (m_commands.empty()) return;
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auto& currentCommand = m_commands[m_currentCommandIndex];
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currentCommand->Execute();
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if (currentCommand->IsFinished()) {
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currentCommand->End(false);
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m_currentCommandIndex++;
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if (m_currentCommandIndex < m_commands.size()) {
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m_commands[m_currentCommandIndex]->Initialize();
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}
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}
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}
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void SequentialCommandGroup::End(bool interrupted) {
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if (interrupted && !m_commands.empty() &&
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m_currentCommandIndex != invalid_index &&
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m_currentCommandIndex < m_commands.size()) {
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m_commands[m_currentCommandIndex]->End(interrupted);
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}
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m_currentCommandIndex = invalid_index;
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}
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bool SequentialCommandGroup::IsFinished() {
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return m_currentCommandIndex == m_commands.size();
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}
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bool SequentialCommandGroup::RunsWhenDisabled() const {
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return m_runWhenDisabled;
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}
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void SequentialCommandGroup::AddCommands(
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std::vector<std::unique_ptr<Command>>&& commands) {
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if (!RequireUngrouped(commands)) {
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return;
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}
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if (m_currentCommandIndex != invalid_index) {
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wpi_setWPIErrorWithContext(CommandIllegalUse,
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"Commands cannot be added to a CommandGroup "
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"while the group is running");
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}
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for (auto&& command : commands) {
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command->SetGrouped(true);
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AddRequirements(command->GetRequirements());
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m_runWhenDisabled &= command->RunsWhenDisabled();
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m_commands.emplace_back(std::move(command));
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}
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}
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