Replaced stream api usage

Daniel1464 · Nov 5, 2024 · 09cce4b · 09cce4b
1 parent c5432ed
commit 09cce4b
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Showing 3 changed files with 45 additions and 30 deletions.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
@@ -4,10 +4,9 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Collections;
+import java.util.HashSet;
 import java.util.LinkedHashMap;
 import java.util.Map;
-import java.util.stream.Collectors;
 
 /**
  * A command composition that runs a set of commands in parallel, ending when the last command ends.
@@ -52,20 +51,26 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      var currentRequirements = getRequirements();
-      if (!Collections.disjoint(command.getRequirements(), currentRequirements)) {
-        String requirementsStr = command.getRequirements()
-          .stream()
-          .filter(currentRequirements::contains)
-          .map(Subsystem::getName)
-          .collect(Collectors.joining(", "));
+      var sharedRequirements = new HashSet<>(this.getRequirements());
+      sharedRequirements.retainAll(command.getRequirements());
+      if (!sharedRequirements.isEmpty()) {
+        StringBuilder sharedRequirementsStr = new StringBuilder();
+        boolean first = true;
+        for (Subsystem requirement: sharedRequirements) {
+          if (first) {
+            first = false;
+          } else {
+            sharedRequirementsStr.append(", ");
+          }
+          sharedRequirementsStr.append(requirement.getName());
+        }
         throw new IllegalArgumentException(
           String.format(
             "Command %s could not be added to this ParallelCommandGroup"
             + " because the subsystems [%s] are already required in this command."
             + " Multiple commands in a parallel composition cannot require"
             + " the same subsystems.",
-            command.getName(), requirementsStr));
+            command.getName(), sharedRequirementsStr));
       }
       m_commands.put(command, false);
       addRequirements(command.getRequirements());

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -5,10 +5,9 @@
 package edu.wpi.first.wpilibj2.command;
 
 import edu.wpi.first.util.sendable.SendableBuilder;
-import java.util.Collections;
+import java.util.HashSet;
 import java.util.LinkedHashMap;
 import java.util.Map;
-import java.util.stream.Collectors;
 
 /**
  * A command composition that runs a set of commands in parallel, ending only when a specific
@@ -82,20 +81,26 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      var currentRequirements = getRequirements();
-      if (!Collections.disjoint(command.getRequirements(), currentRequirements)) {
-        String requirementsStr = command.getRequirements()
-          .stream()
-          .filter(currentRequirements::contains)
-          .map(Subsystem::getName)
-          .collect(Collectors.joining(", "));
+      var sharedRequirements = new HashSet<>(this.getRequirements());
+      sharedRequirements.retainAll(command.getRequirements());
+      if (!sharedRequirements.isEmpty()) {
+        StringBuilder sharedRequirementsStr = new StringBuilder();
+        boolean first = true;
+        for (Subsystem requirement: sharedRequirements) {
+          if (first) {
+            first = false;
+          } else {
+            sharedRequirementsStr.append(", ");
+          }
+          sharedRequirementsStr.append(requirement.getName());
+        }
         throw new IllegalArgumentException(
           String.format(
             "Command %s could not be added to this ParallelCommandGroup"
             + " because the subsystems [%s] are already required in this command."
             + " Multiple commands in a parallel composition cannot require"
             + " the same subsystems.",
-            command.getName(), requirementsStr));
+            command.getName(), sharedRequirementsStr));
       }
       m_commands.put(command, false);
       addRequirements(command.getRequirements());

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
@@ -4,10 +4,9 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Collections;
+import java.util.HashSet;
 import java.util.LinkedHashSet;
 import java.util.Set;
-import java.util.stream.Collectors;
 
 /**
  * A composition that runs a set of commands in parallel, ending when any one of the commands ends
@@ -53,20 +52,26 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      var currentRequirements = getRequirements();
-      if (!Collections.disjoint(command.getRequirements(), currentRequirements)) {
-        String requirementsStr = command.getRequirements()
-          .stream()
-          .filter(currentRequirements::contains)
-          .map(Subsystem::getName)
-          .collect(Collectors.joining(", "));
+      var sharedRequirements = new HashSet<>(this.getRequirements());
+      sharedRequirements.retainAll(command.getRequirements());
+      if (!sharedRequirements.isEmpty()) {
+        StringBuilder sharedRequirementsStr = new StringBuilder();
+        boolean first = true;
+        for (Subsystem requirement: sharedRequirements) {
+          if (first) {
+            first = false;
+          } else {
+            sharedRequirementsStr.append(", ");
+          }
+          sharedRequirementsStr.append(requirement.getName());
+        }
         throw new IllegalArgumentException(
           String.format(
             "Command %s could not be added to this ParallelCommandGroup"
             + " because the subsystems [%s] are already required in this command."
             + " Multiple commands in a parallel composition cannot require"
             + " the same subsystems.",
-            command.getName(), requirementsStr));
+            command.getName(), sharedRequirementsStr));
       }
       m_commands.add(command);
       addRequirements(command.getRequirements());