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Make command scheduling order consistent #5470

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merged 2 commits into from
Oct 10, 2023
Merged

Make command scheduling order consistent #5470

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30e5fd6
Make command scheduling order consistent
Gold856 Jul 25, 2023
3672929
Use direct version of cancel for consistency
Gold856 Sep 18, 2023
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23 changes: 13 additions & 10 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 @@ -92,6 +92,7 @@ public static synchronized CommandScheduler getInstance() {
private final Set<Command> m_toSchedule = new LinkedHashSet<>();
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private final List<Command> m_toCancelCommands = new ArrayList<>();
private final List<Optional<Command>> m_toCancelInterruptors = new ArrayList<>();
private final Set<Command> m_endingCommands = new LinkedHashSet<>();

private final Watchdog m_watchdog = new Watchdog(TimedRobot.kDefaultPeriod, () -> {});

Expand Down Expand Up @@ -271,18 +272,13 @@ public void run() {
m_watchdog.addEpoch("buttons.run()");

m_inRunLoop = true;
boolean isDisabled = RobotState.isDisabled();
// Run scheduled commands, remove finished commands.
for (Iterator<Command> iterator = m_scheduledCommands.iterator(); iterator.hasNext(); ) {
Command command = iterator.next();

if (!command.runsWhenDisabled() && RobotState.isDisabled()) {
command.end(true);
for (BiConsumer<Command, Optional<Command>> action : m_interruptActions) {
action.accept(command, kNoInterruptor);
}
m_requirements.keySet().removeAll(command.getRequirements());
iterator.remove();
m_watchdog.addEpoch(command.getName() + ".end(true)");
if (isDisabled && !command.runsWhenDisabled()) {
cancel(command, kNoInterruptor);
continue;
}

Expand All @@ -292,10 +288,12 @@ public void run() {
}
m_watchdog.addEpoch(command.getName() + ".execute()");
if (command.isFinished()) {
m_endingCommands.add(command);
command.end(false);
for (Consumer<Command> action : m_finishActions) {
action.accept(command);
}
m_endingCommands.remove(command);
iterator.remove();

m_requirements.keySet().removeAll(command.getRequirements());
Expand Down Expand Up @@ -466,6 +464,9 @@ private void cancel(Command command, Optional<Command> interruptor) {
DriverStation.reportWarning("Tried to cancel a null command", true);
return;
}
if (m_endingCommands.contains(command)) {
return;
}
if (m_inRunLoop) {
m_toCancelCommands.add(command);
m_toCancelInterruptors.add(interruptor);
Expand All @@ -475,12 +476,14 @@ private void cancel(Command command, Optional<Command> interruptor) {
return;
}

m_scheduledCommands.remove(command);
m_requirements.keySet().removeAll(command.getRequirements());
m_endingCommands.add(command);
command.end(true);
for (BiConsumer<Command, Optional<Command>> action : m_interruptActions) {
action.accept(command, interruptor);
}
m_endingCommands.remove(command);
m_scheduledCommands.remove(command);
m_requirements.keySet().removeAll(command.getRequirements());
m_watchdog.addEpoch(command.getName() + ".end(true)");
}

Expand Down
29 changes: 17 additions & 12 deletions wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,11 +53,11 @@ class CommandScheduler::Impl {

// Flag and queues for avoiding concurrent modification if commands are
// scheduled/canceled during run

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bool inRunLoop = false;
wpi::SmallVector<Command*, 4> toSchedule;
wpi::SmallVector<Command*, 4> toCancelCommands;
wpi::SmallVector<std::optional<Command*>, 4> toCancelInterruptors;
wpi::SmallSet<Command*, 4> endingCommands;
};

template <typename TMap, typename TKey>
Expand Down Expand Up @@ -194,9 +194,10 @@ void CommandScheduler::Run() {
m_watchdog.AddEpoch("buttons.Run()");

m_impl->inRunLoop = true;
bool isDisabled = frc::RobotState::IsDisabled();
// Run scheduled commands, remove finished commands.
for (Command* command : m_impl->scheduledCommands) {
if (!command->RunsWhenDisabled() && frc::RobotState::IsDisabled()) {
if (isDisabled && !command->RunsWhenDisabled()) {
Cancel(command, std::nullopt);
continue;
}
Expand All @@ -208,16 +209,18 @@ void CommandScheduler::Run() {
m_watchdog.AddEpoch(command->GetName() + ".Execute()");

if (command->IsFinished()) {
m_impl->endingCommands.insert(command);
command->End(false);
for (auto&& action : m_impl->finishActions) {
action(*command);
}
m_impl->endingCommands.erase(command);

m_impl->scheduledCommands.erase(command);
for (auto&& requirement : command->GetRequirements()) {
m_impl->requirements.erase(requirement);
}

m_impl->scheduledCommands.erase(command);
m_watchdog.AddEpoch(command->GetName() + ".End(false)");
}
}
Expand Down Expand Up @@ -326,27 +329,29 @@ void CommandScheduler::Cancel(Command* command,
if (!m_impl) {
return;
}

if (m_impl->endingCommands.contains(command)) {
return;
}
if (m_impl->inRunLoop) {
m_impl->toCancelCommands.emplace_back(command);
m_impl->toCancelInterruptors.emplace_back(interruptor);
return;
}

auto find = m_impl->scheduledCommands.find(command);
if (find == m_impl->scheduledCommands.end()) {
if (!IsScheduled(command)) {
return;
}
m_impl->scheduledCommands.erase(*find);
m_impl->endingCommands.insert(command);
command->End(true);
for (auto&& action : m_impl->interruptActions) {
action(*command, interruptor);
}
m_impl->endingCommands.erase(command);
m_impl->scheduledCommands.erase(command);
for (auto&& requirement : m_impl->requirements) {
if (requirement.second == command) {
m_impl->requirements.erase(requirement.first);
}
}
command->End(true);
for (auto&& action : m_impl->interruptActions) {
action(*command, interruptor);
}
m_watchdog.AddEpoch(command->GetName() + ".End(true)");
}

Expand Down
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