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remove loop funcs and default commands from resource
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Oblarg committed May 14, 2024
1 parent 846e948 commit f5c9a19
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Showing 6 changed files with 129 additions and 155 deletions.
146 changes: 59 additions & 87 deletions 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 @@ -41,7 +41,7 @@
* The scheduler responsible for running {@link Command}s. A Command-based robot should call {@link
* CommandScheduler#run()} on the singleton instance in its periodic block in order to run commands
* synchronously from the main loop. Subsystems should be registered with the scheduler using {@link
* CommandScheduler#registerResources(Resource...)} in order for their {@link Resource#periodic()}
* CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link Subsystem#periodic()}
* methods to be called and for their default commands to be scheduled.
*
* <p>This class is provided by the NewCommands VendorDep
Expand Down Expand Up @@ -71,12 +71,12 @@ public static synchronized CommandScheduler getInstance() {

// A map from required resources to their requiring commands. Also used as a set of the
// currently-required resources.
private final Map<Resource, Command> m_requirements = new LinkedHashMap<>();

// A map from resources registered with the scheduler to their default commands. Also used
// as a list of currently-registered resources.
private final Map<Resource, Command> m_resources = new LinkedHashMap<>();

// A map from resources subsystems with the scheduler to their default commands. Also used
// as a list of currently-registered subsystems.
private final Map<Subsystem, Command> m_subsystems = new LinkedHashMap<>();

private final EventLoop m_defaultButtonLoop = new EventLoop();
// The set of currently-registered buttons that will be polled every iteration.
private EventLoop m_activeButtonLoop = m_defaultButtonLoop;
Expand Down Expand Up @@ -164,7 +164,7 @@ public void setActiveButtonLoop(EventLoop loop) {
private void initCommand(Command command, Set<Resource> requirements) {
m_scheduledCommands.add(command);
for (Resource requirement : requirements) {
m_requirements.put(requirement, command);
m_resources.put(requirement, command);
}
command.initialize();
for (Consumer<Command> action : m_initActions) {
Expand Down Expand Up @@ -205,7 +205,7 @@ private void schedule(Command command) {
Set<Resource> requirements = command.getRequirements();

// Schedule the command if the requirements are not currently in-use.
if (Collections.disjoint(m_requirements.keySet(), requirements)) {
if (Collections.disjoint(m_resources.keySet(), requirements)) {
initCommand(command, requirements);
} else {
// Else check if the requirements that are in use have all have interruptible commands,
Expand Down Expand Up @@ -259,12 +259,12 @@ public void run() {
m_watchdog.reset();

// Run the periodic method of all registered resources.
for (Resource resource : m_resources.keySet()) {
resource.periodic();
for (Subsystem subsystem : m_subsystems.keySet()) {
subsystem.periodic();
if (RobotBase.isSimulation()) {
resource.simulationPeriodic();
subsystem.simulationPeriodic();
}
m_watchdog.addEpoch(resource.getName() + ".periodic()");
m_watchdog.addEpoch(subsystem.getName() + ".periodic()");
}

// Cache the active instance to avoid concurrency problems if setActiveLoop() is called from
Expand Down Expand Up @@ -299,7 +299,7 @@ public void run() {
m_endingCommands.remove(command);
iterator.remove();

m_requirements.keySet().removeAll(command.getRequirements());
m_resources.keySet().removeAll(command.getRequirements());
m_watchdog.addEpoch(command.getName() + ".end(false)");
}
}
Expand All @@ -319,10 +319,10 @@ public void run() {
m_toCancelInterruptors.clear();

// Add default commands for un-required registered resources.
for (Map.Entry<Resource, Command> resourceCommand : m_resources.entrySet()) {
if (!m_requirements.containsKey(resourceCommand.getKey())
&& resourceCommand.getValue() != null) {
schedule(resourceCommand.getValue());
for (Map.Entry<Subsystem, Command> subsystemCommand : m_subsystems.entrySet()) {
if (!m_resources.containsKey(subsystemCommand.getKey())
&& subsystemCommand.getValue() != null) {
schedule(subsystemCommand.getValue());
}
}

Expand All @@ -334,86 +334,58 @@ public void run() {
}

/**
* Registers resources with the scheduler. This must be called for the resource's periodic block
* to run when the scheduler is run, and for the resource's default command to be scheduled. It
* is recommended to call this from the constructor of your resource implementations.
* Registers subsystems with the scheduler. This must be called for the subsystem's periodic block
* to run when the scheduler is run, and for the subsystem's default command to be scheduled. It
* is recommended to call this from the constructor of your subsystem implementations.
*
* @param resources the resources to register
* @param subsystems the subsystems to register
*/
public void registerResources(Resource... resources) {
for (Resource resource : resources) {
if (resource == null) {
DriverStation.reportWarning("Tried to register a null resource", true);
public void registerSubsystem(Subsystem... subsystems) {
for (Subsystem subsystem : subsystems) {
if (subsystem == null) {
DriverStation.reportWarning("Tried to register a null subsystem", true);
continue;
}
if (m_resources.containsKey(resource)) {
DriverStation.reportWarning("Tried to register an already-registered resource", true);
if (m_subsystems.containsKey(subsystem)) {
DriverStation.reportWarning("Tried to register an already-registered subsystem", true);
continue;
}
m_resources.put(resource, null);
m_subsystems.put(subsystem, null);
}
}

/**
* Alias of {@link CommandScheduler#registerResources(Resource...)}. See {@link Subsystem} for
* details regarding the name change.
*
* @param subsystems the subsystem(s to register
*/
public void registerSubsystem(Subsystem... subsystems) {
registerResources(subsystems);
}

/**
* Un-registers resources with the scheduler. The resources will no longer have their periodic
* Un-registers subsystems with the scheduler. The subsystems will no longer have their periodic
* block called, and will not have their default command scheduled.
*
* @param resources the resources to un-register
*/
public void unregisterResources(Resource... resources) {
m_resources.keySet().removeAll(Set.of(resources));
}

/**
* Alias of {@link CommandScheduler#unregisterResources(Resource...)}. See {@link Subsystem} for
* details regarding the name change.
*
* @param subsystems the subsystems to un-register
*/
public void unregisterSubsystem(Resource... subsystems) {
unregisterResources(subsystems);
public void unregisterSubsystem(Subsystem... subsystems) {
m_subsystems.keySet().removeAll(Set.of(subsystems));
}

/**
* Un-registers all registered {@link Resource}s with the scheduler. All currently registered
* resources will no longer have their periodic block called, and will not have their default
* Un-registers all registered {@link Subsystem}s with the scheduler. All currently registered
* subsystems will no longer have their periodic block called, and will not have their default
* command scheduled.
*/
public void unregisterAllResources() {
m_resources.clear();
}

/**
* Alias of {@link CommandScheduler#unregisterAllResources()}. See {@link Subsystem} for
* details regarding the name change.
*/
public void unregisterAllSubsystems() {
unregisterAllResources();
m_subsystems.clear();
}

/**
* Sets the default command for a resource. Registers that resource if it is not already
* Sets the default command for a subsystem. Registers that subsystem if it is not already
* registered. Default commands will run whenever there is no other command currently scheduled
* that requires the resource. Default commands should be written to never end (i.e. their {@link
* that requires the subsystem. Default commands should be written to never end (i.e. their {@link
* Command#isFinished()} method should return false), as they would simply be re-scheduled if they
* do. Default commands must also require their resource.
* do. Default commands must also require their subsystem.
*
* @param resource the resource whose default command will be set
* @param defaultCommand the default command to associate with the resource
* @param subsystem the subsystem whose default command will be set
* @param defaultCommand the default command to associate with the subsystem
*/
public void setDefaultCommand(Resource resource, Command defaultCommand) {
if (resource == null) {
DriverStation.reportWarning("Tried to set a default command for a null resource", true);
public void setDefaultCommand(Subsystem subsystem, Command defaultCommand) {
if (subsystem == null) {
DriverStation.reportWarning("Tried to set a default command for a null subsystem", true);
return;
}
if (defaultCommand == null) {
Expand All @@ -423,46 +395,46 @@ public void setDefaultCommand(Resource resource, Command defaultCommand) {

requireNotComposed(defaultCommand);

if (!defaultCommand.getRequirements().contains(resource)) {
throw new IllegalArgumentException("Default commands must require their resource!");
if (!defaultCommand.getRequirements().contains(subsystem)) {
throw new IllegalArgumentException("Default commands must require their subsystem!");
}

if (defaultCommand.getInterruptionBehavior() == InterruptionBehavior.kCancelIncoming) {
DriverStation.reportWarning(
"Registering a non-interruptible default command!\n"
+ "This will likely prevent any other commands from requiring this resource.",
+ "This will likely prevent any other commands from requiring this subsystem.",
true);
// Warn, but allow -- there might be a use case for this.
}

m_resources.put(resource, defaultCommand);
m_subsystems.put(subsystem, defaultCommand);
}

/**
* Removes the default command for a resource. The current default command will run until another
* command is scheduled that requires the resource, at which point the current default command
* Removes the default command for a subsystem. The current default command will run until another
* command is scheduled that requires the subsystem, at which point the current default command
* will not be re-scheduled.
*
* @param resource the resource whose default command will be removed
* @param subsystem the subsystem whose default command will be removed
*/
public void removeDefaultCommand(Resource resource) {
if (resource == null) {
DriverStation.reportWarning("Tried to remove a default command for a null resource", true);
public void removeDefaultCommand(Subsystem subsystem) {
if (subsystem == null) {
DriverStation.reportWarning("Tried to remove a default command for a null subsystem", true);
return;
}

m_resources.put(resource, null);
m_subsystems.put(subsystem, null);
}

/**
* Gets the default command associated with this resource. Null if this resource has no default
* Gets the default command associated with this subsystem. Null if this subsystem has no default
* command associated with it.
*
* @param resource the resource to inquire about
* @return the default command associated with the resource
* @param subsystem the subsystem to inquire about
* @return the default command associated with the subsystem
*/
public Command getDefaultCommand(Resource resource) {
return m_resources.get(resource);
public Command getDefaultCommand(Subsystem subsystem) {
return m_subsystems.get(subsystem);
}

/**
Expand Down Expand Up @@ -514,7 +486,7 @@ private void cancel(Command command, Optional<Command> interruptor) {
}
m_endingCommands.remove(command);
m_scheduledCommands.remove(command);
m_requirements.keySet().removeAll(command.getRequirements());
m_resources.keySet().removeAll(command.getRequirements());
m_watchdog.addEpoch(command.getName() + ".end(true)");
}

Expand Down Expand Up @@ -545,7 +517,7 @@ public boolean isScheduled(Command... commands) {
* scheduled
*/
public Command requiring(Resource resource) {
return m_requirements.get(resource);
return m_resources.get(resource);
}

/** Disables the command scheduler. */
Expand Down
54 changes: 0 additions & 54 deletions wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Resource.java
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Original file line number Diff line number Diff line change
Expand Up @@ -24,21 +24,6 @@
* defined on this interface, which automatically declare the resource requirement.
*/
public interface Resource {
/**
* This method is called periodically by the {@link CommandScheduler}. Useful for updating
* resource-specific state that you don't want to offload to a {@link Command}. Teams should try
* to be consistent within their own codebases about which responsibilities will be handled by
* Commands, and which will be handled here.
*/
default void periodic() {}

/**
* This method is called periodically by the {@link CommandScheduler}. Useful for updating
* resource-specific state that needs to be maintained for simulations, such as for updating
* {@link edu.wpi.first.wpilibj.simulation} classes and setting simulated sensor readings.
*/
default void simulationPeriodic() {}

/**
* Gets the name of this resource for telemetry.
*
Expand All @@ -48,37 +33,6 @@ default String getName() {
return this.getClass().getSimpleName();
}

/**
* Sets the default {@link Command} of the resource. The default command will be automatically
* scheduled when no other commands are scheduled that require the resource. Default commands
* should generally not end on their own, i.e. their {@link Command#isFinished()} method should
* always return false. Will automatically register this resource with the {@link
* CommandScheduler}.
*
* @param defaultCommand the default command to associate with this resource
*/
default void setDefaultCommand(Command defaultCommand) {
CommandScheduler.getInstance().setDefaultCommand(this, defaultCommand);
}

/**
* Removes the default command for the resource. This will not cancel the default command if it
* is currently running.
*/
default void removeDefaultCommand() {
CommandScheduler.getInstance().removeDefaultCommand(this);
}

/**
* Gets the default command for this resource. Returns null if no default command is currently
* associated with the resource.
*
* @return the default command associated with this resource
*/
default Command getDefaultCommand() {
return CommandScheduler.getInstance().getDefaultCommand(this);
}

/**
* Returns the command currently running on this resource. Returns null if no command is
* currently scheduled that requires this resource.
Expand All @@ -89,14 +43,6 @@ default Command getCurrentCommand() {
return CommandScheduler.getInstance().requiring(this);
}

/**
* Registers this resource with the {@link CommandScheduler}, allowing its {@link
* Resource#periodic()} method to be called when the scheduler runs.
*/
default void register() {
CommandScheduler.getInstance().registerResources(this);
}

/**
* Constructs a command that runs an action once and finishes. Requires this resource.
*
Expand Down
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