Add and use CommandScheduler.resetInstance()

wpilibsuite · Dec 23, 2024 · 4c568c9 · 4c568c9
1 parent 76625fa
commit 4c568c9
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Showing 60 changed files with 1,579 additions and 1,961 deletions.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -62,6 +62,17 @@ public static synchronized CommandScheduler getInstance() {
     return instance;
   }
 
+  /**
+   * Resets the Scheduler instance, which is useful for testing purposes. This should not be called
+   * from user code.
+   */
+  public static synchronized void resetInstance() {
+    if (instance != null) {
+      instance.close();
+    }
+    instance = null;
+  }
+
   private static final Optional<Command> kNoInterruptor = Optional.empty();
 
   private final Map<Command, Exception> m_composedCommands = new WeakHashMap<>();
@@ -99,7 +110,7 @@ public static synchronized CommandScheduler getInstance() {
 
   private final Watchdog m_watchdog = new Watchdog(TimedRobot.kDefaultPeriod, () -> {});
 
-  CommandScheduler() {
+  private CommandScheduler() {
     HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand2_Scheduler);
     SendableRegistry.addLW(this, "Scheduler");
     LiveWindow.setEnabledListener(

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -93,6 +93,10 @@ CommandScheduler& CommandScheduler::GetInstance() {
   return scheduler;
 }
 
+void CommandScheduler::ResetInstance() {
+  std::make_unique<Impl>().swap(GetInstance().m_impl);
+}
+
 void CommandScheduler::SetPeriod(units::second_t period) {
   m_watchdog.SetTimeout(period);
 }

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -44,6 +44,10 @@ class CommandScheduler final : public wpi::Sendable,
    */
   static CommandScheduler& GetInstance();
 
+  /** Resets the Scheduler instance, which is useful for testing purposes. This
+   * should not be called from user code. */
+  static void ResetInstance();
+
   ~CommandScheduler() override;
   CommandScheduler(const CommandScheduler&) = delete;
   CommandScheduler& operator=(const CommandScheduler&) = delete;
@@ -466,10 +470,5 @@ class CommandScheduler final : public wpi::Sendable,
   std::unique_ptr<Impl> m_impl;
 
   frc::Watchdog m_watchdog;
-
-  friend class CommandTestBase;
-
-  template <typename T>
-  friend class CommandTestBaseWithParam;
 };
 }  // namespace frc2