Add command.repeatdly(int count) to both java and c++ #6589

kytpbs · 2024-05-06T00:58:28Z

Currently, the unit tests fail and there are a lot of print statements for whoever might be checking into this.

The problem is. The exact same function calls create different results between C++ and Java. I may just be the idiot but it seems to require further look into

The debug's are in different commits making it a lot easier to revert them if needed.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

spacey-sooty

Overall looks good just a few comments. Dunno why C++ would print stuff out especially since Java doesn't, along with this for printing in C++ its generally better to use fmt::print()

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp

kytpbs · 2024-05-06T12:12:22Z

/format

KangarooKoala · 2024-05-12T21:25:34Z

This was stated in Discord, but tests are probably failing because of an inconsistent order of when the commands in the internal deadline group are checked, which should be fixed by #6602.

kytpbs · 2024-10-07T01:17:03Z

Thanks to #6602 being merged, the tests pass correctly.

I reverted back the print code and rebased them out for a cleaner history.

KangarooKoala

Nice! Overall looks good, just a few small things.

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

wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp

kytpbs · 2024-10-10T22:05:22Z

fix formatting with rebase + force push:

KangarooKoala

Looks good to me, for what it's worth.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

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

wpilibNewCommands/src/main/native/include/frc2/command/Command.h

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h

wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp

kytpbs · 2024-12-16T14:51:46Z

/format

Also has unit tests in it!

also, give better errors Co-Authored-By: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

@KangarooKoala

I didn't know you could just pass by value by doing this thx @KangarooKoala for pointing it out. Co-Authored-By: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

kytpbs · 2024-12-16T15:32:57Z

Force pushing to rebase with main and revert the format commit (broke the entire PR lol)

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

KangarooKoala · 2024-12-16T16:10:57Z

wpilibNewCommands/src/main/native/include/frc2/command/Command.h

+   * Decorates this command to run repeatedly until the given count is reached
+   * or is interrupted. The decorated command can still be canceled.


We should either make Java match C++ or C++ match Java. (I don't have a particularly strong preference on which one)
This also applies to the CommandPtr doc comment.

This would mean we would neet to also change the documentation on the .repeating() function.

IMO, it would be better if this PR didn't have any line removals

This would mean we would neet to also change the documentation on the .repeating() function.

How so? I'm just talking about changing the repeatedly(int) doc comments.

Also, the wording that would most match the repeatedly() doc comment (in both Java and C++) is "Decorates this command to run repeatedly, restarting it when it ends, until this command is run the specified number of times or is interrupted. The decorated command can still be canceled."

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp

KangarooKoala

Great work! There's just a few things left:

The Java and C++ doc comments still need to be updated (see this comment).
Pick a consistent name for the parameter (repetitions or counts) and make sure the parameter doc comments are the same between Java and C++.

KangarooKoala · 2024-12-23T17:41:51Z

wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp

+  auto command = InstantCommand([&counter] { counter++; }, {}).Repeatedly(3);
+
+  scheduler.Schedule(command);
+  EXPECT_TRUE(scheduler.IsScheduled(command));


Suggested change

EXPECT_TRUE(scheduler.IsScheduled(command));

EXPECT_EQ(1, counter);

This matches Java and is more useful than the current check.
There's also a few more small changes- Make sure to read the whole comment.

kytpbs requested review from a team as code owners May 6, 2024 00:58

Starlight220 reviewed May 6, 2024

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wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java Show resolved Hide resolved

spacey-sooty reviewed May 6, 2024

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kytpbs force-pushed the add-Command.Repeatdly(int-count) branch 7 times, most recently from c21b4cf to 832d5a0 Compare October 7, 2024 00:50

kytpbs requested a review from spacey-sooty October 7, 2024 01:17

spacey-sooty approved these changes Oct 7, 2024

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kytpbs requested a review from Starlight220 October 7, 2024 01:27

Starlight220 previously approved these changes Oct 7, 2024

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KangarooKoala approved these changes Oct 7, 2024

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kytpbs force-pushed the add-Command.Repeatdly(int-count) branch from 832d5a0 to e122b0c Compare October 10, 2024 13:29

kytpbs dismissed Starlight220’s stale review via f0d8608 October 10, 2024 21:54

kytpbs force-pushed the add-Command.Repeatdly(int-count) branch from f0d8608 to b569c8f Compare October 10, 2024 22:05

kytpbs requested a review from Starlight220 October 10, 2024 23:07

KangarooKoala approved these changes Oct 12, 2024

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rzblue requested changes Nov 12, 2024

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github-actions bot added the component: command-based WPILib Command Based Library label Dec 16, 2024

PeterJohnson requested review from PeterJohnson and a team as code owners December 16, 2024 14:55

github-actions bot added component: wpiutil WPI utility library component: wpilibj WPILib Java component: wpilibc WPILib C++ component: hal Hardware Abstraction Layer component: wpimath Math library component: wpiunits Java units library labels Dec 16, 2024

kytpbs and others added 5 commits December 16, 2024 16:31

add Command.repeatedly(int times) to both java and c++

59b072c

Also has unit tests in it!

use Atomic Integer instead of array for refrence-passing.

da6c11b

improve tests so they don't hang when failing

eb91b21

also, give better errors Co-Authored-By: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

use pass by value similar to convention

faf08c2

I didn't know you could just pass by value by doing this thx @KangarooKoala for pointing it out. Co-Authored-By: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

improve test names

07bb16e

kytpbs force-pushed the add-Command.Repeatdly(int-count) branch 2 times, most recently from 3a36e0d to cd2328e Compare December 16, 2024 15:55

KangarooKoala reviewed Dec 16, 2024

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kytpbs force-pushed the add-Command.Repeatdly(int-count) branch 3 times, most recently from 57ceb5b to 7be3682 Compare December 16, 2024 18:13

kytpbs and others added 2 commits December 17, 2024 22:14

Better comments and variable names

9fec4bc

More explicitly set initial counter value

f31b58c

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

kytpbs force-pushed the add-Command.Repeatdly(int-count) branch from 7be3682 to f31b58c Compare December 17, 2024 21:15

Starlight220 reviewed Dec 18, 2024

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wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java Outdated Show resolved Hide resolved

wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp Show resolved Hide resolved

Improve comments & Add failure messages to C++

d968cb3

Starlight220 approved these changes Dec 23, 2024

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KangarooKoala reviewed Dec 23, 2024

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Add command.repeatdly(int count) to both java and c++ #6589

Add command.repeatdly(int count) to both java and c++ #6589

kytpbs commented May 6, 2024 •

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		* Decorates this command to run repeatedly until the given count is reached
		* or is interrupted. The decorated command can still be canceled.

	EXPECT_TRUE(scheduler.IsScheduled(command));
	EXPECT_EQ(1, counter);

Add command.repeatdly(int count) to both java and c++ #6589

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Add command.repeatdly(int count) to both java and c++ #6589

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