[cmd] Add and use CommandScheduler.resetInstance() #7584
+1,579
−1,961
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
This PR modifies commands. Please open a corresponding PR in Python Commands and include a link to this PR. |
github-actions
bot
added
the
component: command-based
Already done in Python (see link in PR comment). |
| * Resets the Scheduler instance, which is useful for testing purposes. This should not be called | ||
| * from user code. | ||
| */ | ||
| public static synchronized void resetInstance() { |
There was a problem hiding this comment.
I suggest it should null-op with a warning on a real robot. Is there a reason not to avoid the risk of a team accidentally resetting the scheduler in the middle of a match?
| @@ -93,6 +93,10 @@ CommandScheduler& CommandScheduler::GetInstance() { | |||
| return scheduler; | |||
| } | |||
|
|
|||
| void CommandScheduler::ResetInstance() { | |||
| std::make_unique<Impl>().swap(GetInstance().m_impl); | |||
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Also makes the constructor private, since it was only used for the tests which now can use
resetInstance(). Technically a breaking change for people putting their command unit tests in the commands package, but I doubt that many people would do that.Closes #4866.
Python already has
resetInstance(): https://github.com/robotpy/robotpy-commands-v2/blob/8480f6e3e3a5877e9489300ab8c5ec81703f2ad7/commands2/commandscheduler.py#L54.Most of the changes are just removing
try (CommandScheduler scheduler = new CommandScheduler()) {}, but there's a few other changes to the tests:SchedulerTest.registerSubsystem()andSchedulerTest.unregisterSubsystem()were both changed to useSubsysteminstead ofSubsystemBasesinceSubsystemBasewould automatically register the subsystem with the singleton instance.this(which is by reference) since that's where the scheduler is stored now.CommandRequirementsTest.RequirementInterruptandSchedulerTest.SchedulerInterruptLambdaCausehad to be changed in C++ because the command deconstructors canceled the command at the end of their scope.