SCRIPT Generic Renames

commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <utility>
+
+#include <frc/Errors.h>
+
+#include "CommandTestBase.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/FunctionalCommand.h"
+
+using namespace frc2;
+class CommandRequirementsTest : public CommandTestBase {};
+
+TEST_F(CommandRequirementsTest, RequirementInterrupt) {
+  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, RequirementUninterruptible) {
+  CommandScheduler scheduler = GetScheduler();
+
+  TestSubsystem requirement;
+
+  int initCounter = 0;
+  int exeCounter = 0;
+  int endCounter = 0;
+
+  CommandPtr command1 =
+      FunctionalCommand([&initCounter] { initCounter++; },
+                        [&exeCounter] { exeCounter++; },
+                        [&endCounter](bool interruptible) { endCounter++; },
+                        [] { return false; }, {&requirement})
+          .WithInterruptBehavior(
+              Command::InterruptionBehavior::kCancelIncoming);
+  MockCommand command2({&requirement});
+
+  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(command1);
+  EXPECT_EQ(1, initCounter);
+  scheduler.Run();
+  EXPECT_EQ(1, exeCounter);
+  EXPECT_TRUE(scheduler.IsScheduled(command1));
+  scheduler.Schedule(&command2);
+  EXPECT_TRUE(scheduler.IsScheduled(command1));
+  EXPECT_FALSE(scheduler.IsScheduled(&command2));
+  scheduler.Run();
+  EXPECT_EQ(2, exeCounter);
+  EXPECT_EQ(0, endCounter);
+}
+
+TEST_F(CommandRequirementsTest, DefaultCommandRequirementError) {
+  TestSubsystem requirement1;
+
+  MockCommand command1;
+
+  ASSERT_THROW(requirement1.SetDefaultCommand(std::move(command1)),
+               frc::RuntimeError);
+}