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[commands] Deduplicate command test utils (#4897)

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This commit is contained in:
Starlight220
2023-01-08 17:44:53 +02:00
committed by GitHub
parent cf4235ea36
commit 0d105ab771
1 changed files with 60 additions and 122 deletions
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182
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.h
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@@ -19,71 +19,71 @@
namespace frc2 {
class TestSubsystem : public SubsystemBase {};
/**
* NOTE: Moving mock objects causes EXPECT_CALL to not work correctly!
*/
class MockCommand : public CommandHelper<CommandBase, MockCommand> {
public:
MOCK_CONST_METHOD0(GetRequirements, wpi::SmallSet<Subsystem*, 4>());
MOCK_METHOD0(IsFinished, bool());
MOCK_CONST_METHOD0(RunsWhenDisabled, bool());
MOCK_METHOD0(Initialize, void());
MOCK_METHOD0(Execute, void());
MOCK_METHOD1(End, void(bool interrupted));
MockCommand() {
m_requirements = {};
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
EXPECT_CALL(*this, IsFinished()).WillRepeatedly(::testing::Return(false));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(true));
}
MockCommand(std::initializer_list<Subsystem*> requirements,
bool finished = false, bool runWhenDisabled = true) {
m_requirements.insert(requirements.begin(), requirements.end());
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(finished));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(runWhenDisabled));
}
MockCommand(MockCommand&& other) {
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(other.IsFinished()));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(other.RunsWhenDisabled()));
std::swap(m_requirements, other.m_requirements);
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
}
MockCommand(const MockCommand& other) : CommandHelper{other} {}
void SetFinished(bool finished) {
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(finished));
}
~MockCommand() { // NOLINT
auto& scheduler = CommandScheduler::GetInstance();
scheduler.Cancel(this);
}
private:
wpi::SmallSet<Subsystem*, 4> m_requirements;
};
class CommandTestBase : public ::testing::Test {
public:
CommandTestBase();
class TestSubsystem : public SubsystemBase {};
protected:
/**
* NOTE: Moving mock objects causes EXPECT_CALL to not work correctly!
*/
class MockCommand : public CommandHelper<CommandBase, MockCommand> {
public:
MOCK_CONST_METHOD0(GetRequirements, wpi::SmallSet<Subsystem*, 4>());
MOCK_METHOD0(IsFinished, bool());
MOCK_CONST_METHOD0(RunsWhenDisabled, bool());
MOCK_METHOD0(Initialize, void());
MOCK_METHOD0(Execute, void());
MOCK_METHOD1(End, void(bool interrupted));
MockCommand() {
m_requirements = {};
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
EXPECT_CALL(*this, IsFinished()).WillRepeatedly(::testing::Return(false));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(true));
}
MockCommand(std::initializer_list<Subsystem*> requirements,
bool finished = false, bool runWhenDisabled = true) {
m_requirements.insert(requirements.begin(), requirements.end());
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(finished));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(runWhenDisabled));
}
MockCommand(MockCommand&& other) {
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(other.IsFinished()));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(other.RunsWhenDisabled()));
std::swap(m_requirements, other.m_requirements);
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
}
MockCommand(const MockCommand& other) : CommandHelper{other} {}
void SetFinished(bool finished) {
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(finished));
}
~MockCommand() { // NOLINT
auto& scheduler = CommandScheduler::GetInstance();
scheduler.Cancel(this);
}
private:
wpi::SmallSet<Subsystem*, 4> m_requirements;
};
CommandScheduler GetScheduler();
void SetUp() override;
@@ -103,69 +103,7 @@ class CommandTestBaseWithParam : public ::testing::TestWithParam<T> {
scheduler.GetActiveButtonLoop()->Clear();
}
class TestSubsystem : public SubsystemBase {};
protected:
class MockCommand : public Command {
public:
MOCK_CONST_METHOD0(GetRequirements, wpi::SmallSet<Subsystem*, 4>());
MOCK_METHOD0(IsFinished, bool());
MOCK_CONST_METHOD0(RunsWhenDisabled, bool());
MOCK_METHOD0(Initialize, void());
MOCK_METHOD0(Execute, void());
MOCK_METHOD1(End, void(bool interrupted));
MockCommand() {
m_requirements = {};
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
EXPECT_CALL(*this, IsFinished()).WillRepeatedly(::testing::Return(false));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(true));
}
MockCommand(std::initializer_list<Subsystem*> requirements,
bool finished = false, bool runWhenDisabled = true) {
m_requirements.insert(requirements.begin(), requirements.end());
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(finished));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(runWhenDisabled));
}
MockCommand(MockCommand&& other) {
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(other.IsFinished()));
EXPECT_CALL(*this, RunsWhenDisabled())
.WillRepeatedly(::testing::Return(other.RunsWhenDisabled()));
std::swap(m_requirements, other.m_requirements);
EXPECT_CALL(*this, GetRequirements())
.WillRepeatedly(::testing::Return(m_requirements));
}
MockCommand(const MockCommand& other) : Command{other} {}
void SetFinished(bool finished) {
EXPECT_CALL(*this, IsFinished())
.WillRepeatedly(::testing::Return(finished));
}
~MockCommand() { // NOLINT
auto& scheduler = CommandScheduler::GetInstance();
scheduler.Cancel(this);
}
protected:
std::unique_ptr<Command> TransferOwnership() && { // NOLINT
return std::make_unique<MockCommand>(std::move(*this));
}
private:
wpi::SmallSet<Subsystem*, 4> m_requirements;
};
CommandScheduler GetScheduler() { return CommandScheduler(); }
void SetUp() override { frc::sim::DriverStationSim::SetEnabled(true); }