mirror of
https://github.com/wpilibsuite/allwpilib
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103 lines
3.3 KiB
C
103 lines
3.3 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <regex>
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#include <utility>
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#include <mockdata/MockHooks.h>
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#include "ErrorConfirmer.h"
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#include "frc2/command/CommandGroupBase.h"
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#include "frc2/command/CommandScheduler.h"
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#include "frc2/command/SetUtilities.h"
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#include "frc2/command/SubsystemBase.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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#include "make_vector.h"
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#include "simulation/DriverStationSim.h"
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namespace frc2 {
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class CommandTestBase : public ::testing::Test {
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public:
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CommandTestBase();
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class TestSubsystem : public SubsystemBase {};
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protected:
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class MockCommand : public Command {
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public:
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MOCK_CONST_METHOD0(GetRequirements, wpi::SmallSet<Subsystem*, 4>());
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MOCK_METHOD0(IsFinished, bool());
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MOCK_CONST_METHOD0(RunsWhenDisabled, bool());
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MOCK_METHOD0(Initialize, void());
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MOCK_METHOD0(Execute, void());
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MOCK_METHOD1(End, void(bool interrupted));
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MockCommand() {
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m_requirements = {};
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EXPECT_CALL(*this, GetRequirements())
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.WillRepeatedly(::testing::Return(m_requirements));
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EXPECT_CALL(*this, IsFinished()).WillRepeatedly(::testing::Return(false));
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EXPECT_CALL(*this, RunsWhenDisabled())
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.WillRepeatedly(::testing::Return(true));
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}
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MockCommand(std::initializer_list<Subsystem*> requirements,
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bool finished = false, bool runWhenDisabled = true) {
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m_requirements.insert(requirements.begin(), requirements.end());
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EXPECT_CALL(*this, GetRequirements())
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.WillRepeatedly(::testing::Return(m_requirements));
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EXPECT_CALL(*this, IsFinished())
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.WillRepeatedly(::testing::Return(finished));
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EXPECT_CALL(*this, RunsWhenDisabled())
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.WillRepeatedly(::testing::Return(runWhenDisabled));
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}
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MockCommand(MockCommand&& other) {
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EXPECT_CALL(*this, IsFinished())
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.WillRepeatedly(::testing::Return(other.IsFinished()));
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EXPECT_CALL(*this, RunsWhenDisabled())
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.WillRepeatedly(::testing::Return(other.RunsWhenDisabled()));
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std::swap(m_requirements, other.m_requirements);
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EXPECT_CALL(*this, GetRequirements())
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.WillRepeatedly(::testing::Return(m_requirements));
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}
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MockCommand(const MockCommand& other) : Command{} {}
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void SetFinished(bool finished) {
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EXPECT_CALL(*this, IsFinished())
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.WillRepeatedly(::testing::Return(finished));
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}
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~MockCommand() {
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auto& scheduler = CommandScheduler::GetInstance();
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scheduler.Cancel(this);
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}
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protected:
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std::unique_ptr<Command> TransferOwnership() && {
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return std::make_unique<MockCommand>(std::move(*this));
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}
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private:
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wpi::SmallSet<Subsystem*, 4> m_requirements;
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};
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CommandScheduler GetScheduler();
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void SetUp() override;
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void TearDown() override;
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void SetDSEnabled(bool enabled);
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};
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} // namespace frc2
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