Reduced boilerplate

Daniel1464 · Nov 7, 2024 · 178ab5b · 178ab5b
1 parent 09cce4b
commit 178ab5b
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Showing 9 changed files with 88 additions and 162 deletions.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
@@ -7,6 +7,8 @@
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.units.measure.Time;
+
+import java.util.HashSet;
 import java.util.Map;
 import java.util.Set;
 import java.util.function.BooleanSupplier;
@@ -272,6 +274,38 @@ public static Command deadline(Command deadline, Command... otherCommands) {
     return new ParallelDeadlineGroup(deadline, otherCommands);
   }
 
+  /**
+   * Throws an error if a parallel group already shares
+   * one or more requirements with a command
+   * that will be added to it.
+   *
+   * @param parallelGroup The parallel group command.
+   * @param toAdd The command that will be added to the parallel group.
+   */
+  public static void ensureDisjointRequirements(Command parallelGroup, Command toAdd) {
+    var sharedRequirements = new HashSet<>(parallelGroup.getRequirements());
+    sharedRequirements.retainAll(toAdd.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 parallel group"
+            + " because the subsystems [%s] are already required in this command."
+            + " Multiple commands in a parallel composition cannot require"
+            + " the same subsystems.",
+          toAdd.getName(), sharedRequirementsStr));
+    }
+  }
+
   private Commands() {
     throw new UnsupportedOperationException("This is a utility class");
   }

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
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.HashSet;
 import java.util.LinkedHashMap;
 import java.util.Map;
 
@@ -51,27 +50,7 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      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(), sharedRequirementsStr));
-      }
+      Commands.ensureDisjointRequirements(this, command);
       m_commands.put(command, false);
       addRequirements(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();

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
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj2.command;
 
 import edu.wpi.first.util.sendable.SendableBuilder;
-import java.util.HashSet;
 import java.util.LinkedHashMap;
 import java.util.Map;
 
@@ -81,27 +80,7 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      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(), sharedRequirementsStr));
-      }
+      Commands.ensureDisjointRequirements(this, command);
       m_commands.put(command, false);
       addRequirements(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();

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
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.HashSet;
 import java.util.LinkedHashSet;
 import java.util.Set;
 
@@ -52,27 +51,7 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      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(), sharedRequirementsStr));
-      }
+      Commands.ensureDisjointRequirements(this, command);
       m_commands.add(command);
       addRequirements(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -220,14 +220,28 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
 
 namespace frc2 {
 
-std::vector<Subsystem*> GetSharedRequirements(Command* first, Command* second) {
-  std::vector<Subsystem*> shared;
-  auto&& requirementsOfSecond = second->GetRequirements();
-  for (auto&& requirement : first->GetRequirements()) {
-    if (requirementsOfSecond.find(requirement) != requirementsOfSecond.end()) {
-      shared.push_back(requirement);
+void EnsureDisjointRequirements(Command* parallelGroup, Command* toAdd) {
+  std::string sharedRequirementsStr = "";
+  bool hasSharedRequirements = false;
+  auto&& requirementsToAdd = toAdd->GetRequirements();
+  for (auto&& requirement : parallelGroup->GetRequirements()) {
+    if (requirementsToAdd.find(requirement) != requirementsToAdd.end()) {
+      sharedRequirementsStr.append(requirement->GetName());
+      if (!hasSharedRequirements) {
+        hasSharedRequirements = true; // ensures formatting like "a, b, c"
+      } else {
+        sharedRequirementsStr.append(", ");
+      }
     }
   }
-  return shared;
+  if (hasSharedRequirements) {
+    throw FRC_MakeError(
+          frc::err::CommandIllegalUse,
+          "Command {} could not be added to this parallel group"
+          " because the subsystems [{}] are already required in this command."
+          " Multiple commands in a parallel composition cannot require the "
+          "same subsystems.",
+          command->GetName(), sharedRequirementsStr);
+  }
 }
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
@@ -76,34 +76,14 @@ void ParallelCommandGroup::AddCommands(
   }
 
   for (auto&& command : commands) {
-    auto sharedRequirements = GetSharedRequirements(this, command.get());
-    if (sharedRequirements.empty()) {
-      command->SetComposed(true);
-      AddRequirements(command->GetRequirements());
-      m_runWhenDisabled &= command->RunsWhenDisabled();
-      if (command->GetInterruptionBehavior() ==
-          Command::InterruptionBehavior::kCancelSelf) {
-        m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
-      }
-      m_commands.emplace_back(std::move(command), false);
-    } else {
-      std::string formattedRequirements = "";
-      bool first = true;
-      for (auto&& requirement : sharedRequirements) {
-        if (first) {
-          first = false;
-        } else {
-          formattedRequirements += ", ";
-        }
-        formattedRequirements += requirement->GetName();
-      }
-      throw FRC_MakeError(
-          frc::err::CommandIllegalUse,
-          "Command {} could not be added to this ParallelCommandGroup"
-          " because the subsystems [{}] are already required in this command."
-          " Multiple commands in a parallel composition cannot require the "
-          "same subsystems.",
-          command->GetName(), formattedRequirements);
+    EnsureDisjointRequirements(this, command.get());
+    command->SetComposed(true);
+    AddRequirements(command->GetRequirements());
+    m_runWhenDisabled &= command->RunsWhenDisabled();
+    if (command->GetInterruptionBehavior() ==
+        Command::InterruptionBehavior::kCancelSelf) {
+      m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
     }
+    m_commands.emplace_back(std::move(command), false);
   }
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -76,35 +76,15 @@ void ParallelDeadlineGroup::AddCommands(
   }
 
   for (auto&& command : commands) {
-    auto sharedRequirements = GetSharedRequirements(this, command.get());
-    if (sharedRequirements.empty()) {
-      command->SetComposed(true);
-      AddRequirements(command->GetRequirements());
-      m_runWhenDisabled &= command->RunsWhenDisabled();
-      if (command->GetInterruptionBehavior() ==
-          Command::InterruptionBehavior::kCancelSelf) {
-        m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
-      }
-      m_commands.emplace_back(std::move(command), false);
-    } else {
-      std::string formattedRequirements = "";
-      bool first = true;
-      for (auto&& requirement : sharedRequirements) {
-        if (first) {
-          first = false;
-        } else {
-          formattedRequirements += ", ";
-        }
-        formattedRequirements += requirement->GetName();
-      }
-      throw FRC_MakeError(
-          frc::err::CommandIllegalUse,
-          "Command {} could not be added to this ParallelCommandGroup"
-          " because the subsystems [{}] are already required in this command."
-          " Multiple commands in a parallel composition cannot require the "
-          "same subsystems.",
-          command->GetName(), formattedRequirements);
+    EnsureDisjointRequirements(this, command.get());
+    command->SetComposed(true);
+    AddRequirements(command->GetRequirements());
+    m_runWhenDisabled &= command->RunsWhenDisabled();
+    if (command->GetInterruptionBehavior() ==
+        Command::InterruptionBehavior::kCancelSelf) {
+      m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
     }
+    m_commands.emplace_back(std::move(command), false);
   }
 }
 

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
@@ -63,34 +63,14 @@ void ParallelRaceGroup::AddCommands(
   }
 
   for (auto&& command : commands) {
-    auto sharedRequirements = GetSharedRequirements(this, command.get());
-    if (sharedRequirements.empty()) {
-      command->SetComposed(true);
-      AddRequirements(command->GetRequirements());
-      m_runWhenDisabled &= command->RunsWhenDisabled();
-      if (command->GetInterruptionBehavior() ==
-          Command::InterruptionBehavior::kCancelSelf) {
-        m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
-      }
-      m_commands.emplace_back(std::move(command));
-    } else {
-      std::string formattedRequirements = "";
-      bool first = true;
-      for (auto&& requirement : sharedRequirements) {
-        if (first) {
-          first = false;
-        } else {
-          formattedRequirements += ", ";
-        }
-        formattedRequirements += requirement->GetName();
-      }
-      throw FRC_MakeError(
-          frc::err::CommandIllegalUse,
-          "Command {} could not be added to this ParallelCommandGroup"
-          " because the subsystems [{}] are already required in this command."
-          " Multiple commands in a parallel composition cannot require the "
-          "same subsystems.",
-          command->GetName(), formattedRequirements);
+    EnsureDisjointRequirements(this, command.get());
+    command->SetComposed(true);
+    AddRequirements(command->GetRequirements());
+    m_runWhenDisabled &= command->RunsWhenDisabled();
+    if (command->GetInterruptionBehavior() ==
+        Command::InterruptionBehavior::kCancelSelf) {
+      m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
     }
+    m_commands.emplace_back(std::move(command));
   }
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -493,11 +493,12 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
 };
 
 /**
- * Gets the shared requirements between two distinct commands.
+ * Throws an error if a parallel group already shares 
+ * one or more requirements with a command 
+ * that will be added to it.
  *
- * @param first The first command to check.
- * @param second The second command to check.
- * @return A vector of shared subsystem requirements.
+ * @param parallelGroup The parallel group command.
+ * @param toAdd The command that will be added to the parallel group.
  */
-std::vector<Subsystem*> GetSharedRequirements(Command* first, Command* second);
+void EnsureDisjointRequirements(Command* parallelGroup, Command* toAdd);
 }  // namespace frc2