Merge pull request #59 from DeepBlueRobotics/safe-mode

Fix a Bug Where Safe-Mode May not be Initialized if only Safe-Commands are Used

Author: CoolSpy3

src/main/java/org/carlmontrobotics/lib199/safeMode/SafeCommand.java

@@ -14,6 +14,10 @@ public class SafeCommand extends FunctionalCommand {
 
     private final Command command;
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     /**
      * Creates a new SafeCommand
      * @param command The command to run

src/main/java/org/carlmontrobotics/lib199/safeMode/SafeExecuteBlockingCommand.java

@@ -15,6 +15,10 @@ public class SafeExecuteBlockingCommand extends FunctionalCommand {
 
     private final Command command;
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     public SafeExecuteBlockingCommand(Command command) {
         super(
             () -> command.initialize(),

src/main/java/org/carlmontrobotics/lib199/safeMode/SafeMode.java

@@ -46,6 +46,12 @@ public class SafeMode {
         Lib199Subsystem.registerPeriodic(SafeMode::updateCallbacks);
     }
 
+    /**
+     * Ensures that the static block of this class is called, setting up safe-mode.
+     * It is unlikely that you will need to call this function.
+     */
+    public static void ensureInitialized() {}
+
     /**
      * Enables safe-mode
      */

src/main/java/org/carlmontrobotics/lib199/safeMode/UnsafeCommand.java

@@ -14,6 +14,10 @@ public class UnsafeCommand extends FunctionalCommand {
 
     private final Command command;
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     public UnsafeCommand(Command command) {
         super(
             () -> { if(!SafeMode.isEnabled()) command.initialize(); },

src/main/java/org/carlmontrobotics/lib199/safeMode/UnsafeExecuteBlockingCommand.java

@@ -15,6 +15,10 @@ public class UnsafeExecuteBlockingCommand extends FunctionalCommand {
 
     private final Command command;
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     public UnsafeExecuteBlockingCommand(Command command) {
         super(
             command::initialize,