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[cmd] Add and use CommandScheduler.resetInstance() #7584

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[cmd] Add and use CommandScheduler.resetInstance() #7584

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4c568c9
Add and use CommandScheduler.resetInstance()
KangarooKoala Dec 23, 2024
39a4b37
Merge branch 'main' into command-scheduler-reset
KangarooKoala Dec 28, 2024
6f3bcff
Only enable resetInstance in simulation
KangarooKoala Dec 28, 2024
c4ee815
Merge branch 'main' into command-scheduler-reset
KangarooKoala Dec 31, 2024
f83ac4c
Merge branch 'main' into command-scheduler-reset
KangarooKoala Jan 9, 2025
e72b6b0
Add return to C++ CommandScheduler::ResetInstance()
KangarooKoala Jan 9, 2025
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13 changes: 12 additions & 1 deletion wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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() {
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if (instance != null) {
instance.close();
}
instance = null;
}

private static final Optional<Command> kNoInterruptor = Optional.empty();

private final Map<Command, Exception> m_composedCommands = new WeakHashMap<>();
Expand Down Expand Up @@ -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(
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4 changes: 4 additions & 0 deletions wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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Expand Up @@ -93,6 +93,10 @@ CommandScheduler& CommandScheduler::GetInstance() {
return scheduler;
}

void CommandScheduler::ResetInstance() {
std::make_unique<Impl>().swap(GetInstance().m_impl);
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}

void CommandScheduler::SetPeriod(units::second_t period) {
m_watchdog.SetTimeout(period);
}
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9 changes: 4 additions & 5 deletions wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
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Expand Up @@ -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;
Expand Down Expand Up @@ -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
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