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[cmd] Deprecate Command.schedule() #7072

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[cmd] Deprecate Command.schedule() #7072

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55e19f5
[cmd] Deprecate Command.schedule()
Gold856 Aug 27, 2024
c8b610e
Replace most usages of schedule()
Gold856 Sep 17, 2024
d0fa749
Update wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSend…
Gold856 Sep 18, 2024
3f6f458
More fixes
Gold856 Sep 18, 2024
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9 changes: 7 additions & 2 deletions wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
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Expand Up @@ -514,7 +514,12 @@ public WrapperCommand handleInterrupt(Runnable handler) {
});
}

/** Schedules this command. */
/**
* Schedules this command.
*
* @deprecated Use CommandScheduler.getInstance().schedule(Command...) instead
*/
@Deprecated(since = "2025", forRemoval = true)
public void schedule() {
CommandScheduler.getInstance().schedule(this);
}
Expand Down Expand Up @@ -591,7 +596,7 @@ public void initSendable(SendableBuilder builder) {
value -> {
if (value) {
if (!isScheduled()) {
schedule();
CommandScheduler.getInstance().schedule(this);
}
} else {
if (isScheduled()) {
Expand Down
2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
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Expand Up @@ -59,7 +59,7 @@ public ProxyCommand(Command command) {
@Override
public void initialize() {
m_command = m_supplier.get();
m_command.schedule();
CommandScheduler.getInstance().schedule(m_command);
}

@Override
Expand Down
2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
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Expand Up @@ -28,7 +28,7 @@ public ScheduleCommand(Command... toSchedule) {
@Override
public void initialize() {
for (Command command : m_toSchedule) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
}

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14 changes: 7 additions & 7 deletions wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
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Expand Up @@ -66,7 +66,7 @@ public void run() {
boolean pressed = m_condition.getAsBoolean();

if (m_pressedLast != pressed) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}

m_pressedLast = pressed;
Expand All @@ -92,7 +92,7 @@ public void run() {
boolean pressed = m_condition.getAsBoolean();

if (!m_pressedLast && pressed) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}

m_pressedLast = pressed;
Expand All @@ -118,7 +118,7 @@ public void run() {
boolean pressed = m_condition.getAsBoolean();

if (m_pressedLast && !pressed) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}

m_pressedLast = pressed;
Expand Down Expand Up @@ -148,7 +148,7 @@ public void run() {
boolean pressed = m_condition.getAsBoolean();

if (!m_pressedLast && pressed) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
} else if (m_pressedLast && !pressed) {
command.cancel();
}
Expand Down Expand Up @@ -180,7 +180,7 @@ public void run() {
boolean pressed = m_condition.getAsBoolean();

if (m_pressedLast && !pressed) {
command.schedule();
CommandScheduler.getInstance().schedule(command);
} else if (!m_pressedLast && pressed) {
command.cancel();
}
Expand Down Expand Up @@ -211,7 +211,7 @@ public void run() {
if (command.isScheduled()) {
command.cancel();
} else {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
}

Expand Down Expand Up @@ -241,7 +241,7 @@ public void run() {
if (command.isScheduled()) {
command.cancel();
} else {
command.schedule();
CommandScheduler.getInstance().schedule(command);
}
}

Expand Down
2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
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Expand Up @@ -193,7 +193,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
[this](bool value) {
bool isScheduled = IsScheduled();
if (value && !isScheduled) {
Schedule();
CommandScheduler::GetInstance().Schedule(this);
} else if (!value && isScheduled) {
Cancel();
}
Expand Down
2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
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Expand Up @@ -37,7 +37,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {

void ProxyCommand::Initialize() {
m_command = m_supplier();
m_command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(m_command);
}

void ProxyCommand::End(bool interrupted) {
Expand Down
2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
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Expand Up @@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) {

void ScheduleCommand::Initialize() {
for (auto command : m_toSchedule) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}

Expand Down
28 changes: 14 additions & 14 deletions wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
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Expand Up @@ -21,7 +21,7 @@ Trigger Trigger::OnChange(Command* command) {
bool current = condition();

if (previous != current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}

previous = current;
Expand All @@ -35,7 +35,7 @@ Trigger Trigger::OnChange(CommandPtr&& command) {
bool current = condition();

if (previous != current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}

previous = current;
Expand All @@ -49,7 +49,7 @@ Trigger Trigger::OnTrue(Command* command) {
bool current = condition();

if (!previous && current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}

previous = current;
Expand All @@ -63,7 +63,7 @@ Trigger Trigger::OnTrue(CommandPtr&& command) {
bool current = condition();

if (!previous && current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}

previous = current;
Expand All @@ -77,7 +77,7 @@ Trigger Trigger::OnFalse(Command* command) {
bool current = condition();

if (previous && !current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}

previous = current;
Expand All @@ -91,7 +91,7 @@ Trigger Trigger::OnFalse(CommandPtr&& command) {
bool current = condition();

if (previous && !current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}

previous = current;
Expand All @@ -105,7 +105,7 @@ Trigger Trigger::WhileTrue(Command* command) {
bool current = condition();

if (!previous && current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (previous && !current) {
command->Cancel();
}
Expand All @@ -121,7 +121,7 @@ Trigger Trigger::WhileTrue(CommandPtr&& command) {
bool current = condition();

if (!previous && current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (previous && !current) {
command.Cancel();
}
Expand All @@ -137,7 +137,7 @@ Trigger Trigger::WhileFalse(Command* command) {
bool current = condition();

if (previous && !current) {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (!previous && current) {
command->Cancel();
}
Expand All @@ -153,7 +153,7 @@ Trigger Trigger::WhileFalse(CommandPtr&& command) {
bool current = condition();

if (!previous && current) {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
} else if (previous && !current) {
command.Cancel();
}
Expand All @@ -172,7 +172,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}

Expand All @@ -190,7 +190,7 @@ Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
if (command.IsScheduled()) {
command.Cancel();
} else {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}

Expand All @@ -208,7 +208,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}

Expand All @@ -226,7 +226,7 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
if (command.IsScheduled()) {
command.Cancel();
} else {
command.Schedule();
frc2::CommandScheduler::GetInstance().Schedule(command);
}
}

Expand Down
3 changes: 3 additions & 0 deletions wpilibNewCommands/src/main/native/include/frc2/command/Command.h
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Expand Up @@ -406,7 +406,10 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {

/**
* Schedules this command.
*
* @deprecated Use CommandScheduler::GetInstance().Schedule() instead
*/
[[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
void Schedule();

/**
Expand Down
3 changes: 3 additions & 0 deletions wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
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Expand Up @@ -286,7 +286,10 @@ class CommandPtr final {

/**
* Schedules this command.
*
* @deprecated Use CommandScheduler::GetInstance().Schedule() instead
*/
[[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
void Schedule() const&;

// Prevent calls on a temporary, as the returned pointer would be invalid
Expand Down
4 changes: 2 additions & 2 deletions ...ibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java
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Expand Up @@ -55,7 +55,7 @@ void trueAndNotScheduledSchedules() {
@Test
void trueAndScheduledNoOp() {
// Scheduled and true -> no-op
m_command.schedule();
CommandScheduler.getInstance().schedule(m_command);
CommandScheduler.getInstance().run();
SmartDashboard.updateValues();
assertTrue(m_command.isScheduled());
Expand Down Expand Up @@ -90,7 +90,7 @@ void falseAndNotScheduledNoOp() {
@Test
void falseAndScheduledCancel() {
// Scheduled and false -> cancel
m_command.schedule();
CommandScheduler.getInstance().schedule(m_command);
CommandScheduler.getInstance().run();
SmartDashboard.updateValues();
assertTrue(m_command.isScheduled());
Expand Down
2 changes: 1 addition & 1 deletion wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java
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Expand Up @@ -22,7 +22,7 @@ void proxyCommandScheduleTest() {

scheduler.schedule(scheduleCommand);

verify(command1).schedule();
verify(command1).initialize();
}
}

Expand Down
4 changes: 2 additions & 2 deletions wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
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Expand Up @@ -22,8 +22,8 @@ void scheduleCommandScheduleTest() {

scheduler.schedule(scheduleCommand);

verify(command1).schedule();
verify(command2).schedule();
verify(command1).initialize();
verify(command2).initialize();
}
}

Expand Down
4 changes: 2 additions & 2 deletions wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
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Expand Up @@ -39,10 +39,10 @@ void setNetworkButtonTest() {
pub.set(false);
button.onTrue(command);
scheduler.run();
verify(command, never()).schedule();
verify(command, never()).initialize();
pub.set(true);
scheduler.run();
scheduler.run();
verify(command).schedule();
verify(command).initialize();
}
}
6 changes: 3 additions & 3 deletions wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
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Expand Up @@ -207,7 +207,7 @@ void cancelWhenActiveTest() {
.until(button);

button.setPressed(false);
command1.schedule();
scheduler.schedule(command1);
scheduler.run();
assertEquals(1, startCounter.get());
assertEquals(0, endCounter.get());
Expand Down Expand Up @@ -258,13 +258,13 @@ void debounceTest() {

button.setPressed(true);
scheduler.run();
verify(command, never()).schedule();
verify(command, never()).initialize();

SimHooks.stepTiming(0.3);

button.setPressed(true);
scheduler.run();
verify(command).schedule();
verify(command).initialize();
}

@Test
Expand Down
4 changes: 2 additions & 2 deletions wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
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Expand Up @@ -49,7 +49,7 @@ TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {

TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
// Scheduled and true -> no-op
m_command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(m_command.value());
GetScheduler().Run();
frc::SmartDashboard::UpdateValues();
EXPECT_TRUE(m_command->IsScheduled());
Expand Down Expand Up @@ -82,7 +82,7 @@ TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {

TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
// Scheduled and false -> cancel
m_command->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(m_command.value());
GetScheduler().Run();
frc::SmartDashboard::UpdateValues();
EXPECT_TRUE(m_command->IsScheduled());
Expand Down
2 changes: 1 addition & 1 deletion wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
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Expand Up @@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand) {
m_autonomousCommand->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
}
}

Expand Down
2 changes: 1 addition & 1 deletion wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
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Expand Up @@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
}
}

Expand Down
2 changes: 1 addition & 1 deletion wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
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Expand Up @@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Schedule();
frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
}
}

Expand Down
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