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[commands] Make requirements private #6769

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merged 1 commit into from
Jul 12, 2024
Merged

[commands] Make requirements private #6769

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2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
*/
public abstract class Command implements Sendable {
/** Requirements set. */
protected Set<Subsystem> m_requirements = new HashSet<>();
private final Set<Subsystem> m_requirements = new HashSet<>();

/** Default constructor. */
@SuppressWarnings("this-escape")
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2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
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Expand Up @@ -50,7 +50,7 @@ public final void addCommands(Command... commands) {
CommandScheduler.getInstance().registerComposedCommands(commands);

for (Command command : commands) {
if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
if (!Collections.disjoint(command.getRequirements(), getRequirements())) {
throw new IllegalArgumentException(
"Multiple commands in a parallel composition cannot require the same subsystems");
}
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2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
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Expand Up @@ -80,7 +80,7 @@ public final void addCommands(Command... commands) {
CommandScheduler.getInstance().registerComposedCommands(commands);

for (Command command : commands) {
if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
if (!Collections.disjoint(command.getRequirements(), getRequirements())) {
throw new IllegalArgumentException(
"Multiple commands in a parallel group cannot require the same subsystems");
}
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2 changes: 1 addition & 1 deletion wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
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Expand Up @@ -51,7 +51,7 @@ public final void addCommands(Command... commands) {
CommandScheduler.getInstance().registerComposedCommands(commands);

for (Command command : commands) {
if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
if (!Collections.disjoint(command.getRequirements(), getRequirements())) {
throw new IllegalArgumentException(
"Multiple commands in a parallel composition cannot require the same subsystems");
}
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1 change: 1 addition & 0 deletions wpilibNewCommands/src/main/native/include/frc2/command/Command.h
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Expand Up @@ -484,6 +484,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
protected:
Command();

private:
/// Requirements set.
wpi::SmallSet<Subsystem*, 4> m_requirements;

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