mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
85 lines
2.8 KiB
C++
85 lines
2.8 KiB
C++
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
||
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#include "CommandTestBase.h"
|
||
|
|
#include "frc2/command/CommandScheduler.h"
|
||
|
|
#include "frc2/command/ConditionalCommand.h"
|
||
|
|
#include "frc2/command/InstantCommand.h"
|
||
|
|
#include "frc2/command/ParallelCommandGroup.h"
|
||
|
|
#include "frc2/command/ParallelDeadlineGroup.h"
|
||
|
|
#include "frc2/command/ParallelRaceGroup.h"
|
||
|
|
#include "frc2/command/SelectCommand.h"
|
||
|
|
#include "frc2/command/SequentialCommandGroup.h"
|
||
|
|
|
||
|
|
using namespace frc2;
|
||
|
|
class CommandRequirementsTest : public CommandTestBase {};
|
||
|
|
|
||
|
|
TEST_F(CommandRequirementsTest, RequirementInterruptTest) {
|
||
|
|
CommandScheduler scheduler = GetScheduler();
|
||
|
|
|
||
|
|
TestSubsystem requirement;
|
||
|
|
|
||
|
|
MockCommand command1({&requirement});
|
||
|
|
MockCommand command2({&requirement});
|
||
|
|
|
||
|
|
EXPECT_CALL(command1, Initialize());
|
||
|
|
EXPECT_CALL(command1, Execute());
|
||
|
|
EXPECT_CALL(command1, End(true));
|
||
|
|
EXPECT_CALL(command1, End(false)).Times(0);
|
||
|
|
|
||
|
|
EXPECT_CALL(command2, Initialize());
|
||
|
|
EXPECT_CALL(command2, Execute());
|
||
|
|
EXPECT_CALL(command2, End(true)).Times(0);
|
||
|
|
EXPECT_CALL(command2, End(false)).Times(0);
|
||
|
|
|
||
|
|
scheduler.Schedule(&command1);
|
||
|
|
scheduler.Run();
|
||
|
|
EXPECT_TRUE(scheduler.IsScheduled(&command1));
|
||
|
|
scheduler.Schedule(&command2);
|
||
|
|
EXPECT_FALSE(scheduler.IsScheduled(&command1));
|
||
|
|
EXPECT_TRUE(scheduler.IsScheduled(&command2));
|
||
|
|
scheduler.Run();
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_F(CommandRequirementsTest, RequirementUninterruptibleTest) {
|
||
|
|
CommandScheduler scheduler = GetScheduler();
|
||
|
|
|
||
|
|
TestSubsystem requirement;
|
||
|
|
|
||
|
|
MockCommand command1({&requirement});
|
||
|
|
MockCommand command2({&requirement});
|
||
|
|
|
||
|
|
EXPECT_CALL(command1, Initialize());
|
||
|
|
EXPECT_CALL(command1, Execute()).Times(2);
|
||
|
|
EXPECT_CALL(command1, End(true)).Times(0);
|
||
|
|
EXPECT_CALL(command1, End(false)).Times(0);
|
||
|
|
|
||
|
|
EXPECT_CALL(command2, Initialize()).Times(0);
|
||
|
|
EXPECT_CALL(command2, Execute()).Times(0);
|
||
|
|
EXPECT_CALL(command2, End(true)).Times(0);
|
||
|
|
EXPECT_CALL(command2, End(false)).Times(0);
|
||
|
|
|
||
|
|
scheduler.Schedule(false, &command1);
|
||
|
|
scheduler.Run();
|
||
|
|
EXPECT_TRUE(scheduler.IsScheduled(&command1));
|
||
|
|
scheduler.Schedule(&command2);
|
||
|
|
EXPECT_TRUE(scheduler.IsScheduled(&command1));
|
||
|
|
EXPECT_FALSE(scheduler.IsScheduled(&command2));
|
||
|
|
scheduler.Run();
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_F(CommandRequirementsTest, DefaultCommandRequirementErrorTest) {
|
||
|
|
TestSubsystem requirement1;
|
||
|
|
ErrorConfirmer confirmer("require");
|
||
|
|
|
||
|
|
MockCommand command1;
|
||
|
|
|
||
|
|
requirement1.SetDefaultCommand(std::move(command1));
|
||
|
|
|
||
|
|
EXPECT_TRUE(requirement1.GetDefaultCommand() == NULL);
|
||
|
|
}
|