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[commands] Define order of parallel groups (#6602)

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This commit is contained in:
Joseph Eng
2024-06-01 12:01:15 -07:00
committed by GitHub
parent 7751f6d1d2
commit 1828fdaaa4
6 changed files with 296 additions and 9 deletions
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129
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
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@@ -52,6 +52,31 @@ TEST_F(CommandDecoratorTest, Until) {
EXPECT_FALSE(scheduler.IsScheduled(command));
}
TEST_F(CommandDecoratorTest, UntilOrder) {
CommandScheduler scheduler = GetScheduler();
bool firstHasRun = false;
bool firstWasPolled = false;
auto first = FunctionalCommand([] {}, [&firstHasRun] { firstHasRun = true; },
[](bool interrupted) {},
[&firstWasPolled] {
firstWasPolled = true;
return true;
});
auto command = std::move(first).Until([&firstHasRun, &firstWasPolled] {
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
return true;
});
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
}
TEST_F(CommandDecoratorTest, OnlyWhile) {
CommandScheduler scheduler = GetScheduler();
@@ -70,6 +95,31 @@ TEST_F(CommandDecoratorTest, OnlyWhile) {
EXPECT_FALSE(scheduler.IsScheduled(command));
}
TEST_F(CommandDecoratorTest, OnlyWhileOrder) {
CommandScheduler scheduler = GetScheduler();
bool firstHasRun = false;
bool firstWasPolled = false;
auto first = FunctionalCommand([] {}, [&firstHasRun] { firstHasRun = true; },
[](bool interrupted) {},
[&firstWasPolled] {
firstWasPolled = true;
return true;
});
auto command = std::move(first).Until([&firstHasRun, &firstWasPolled] {
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
return false;
});
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
}
TEST_F(CommandDecoratorTest, IgnoringDisable) {
CommandScheduler scheduler = GetScheduler();
@@ -203,6 +253,85 @@ TEST_F(CommandDecoratorTest, RaceWith) {
EXPECT_FALSE(scheduler.IsScheduled(group));
}
TEST_F(CommandDecoratorTest, DeadlineForOrder) {
CommandScheduler scheduler = GetScheduler();
bool dictatorHasRun = false;
bool dictatorWasPolled = false;
auto dictator =
FunctionalCommand([] {}, [&dictatorHasRun] { dictatorHasRun = true; },
[](bool interrupted) {},
[&dictatorWasPolled] {
dictatorWasPolled = true;
return true;
});
auto other = RunCommand([&dictatorHasRun, &dictatorWasPolled] {
EXPECT_TRUE(dictatorHasRun);
EXPECT_TRUE(dictatorWasPolled);
});
auto group = std::move(dictator).DeadlineFor(std::move(other).ToPtr());
scheduler.Schedule(group);
scheduler.Run();
EXPECT_TRUE(dictatorHasRun);
EXPECT_TRUE(dictatorWasPolled);
}
TEST_F(CommandDecoratorTest, AlongWithOrder) {
CommandScheduler scheduler = GetScheduler();
bool firstHasRun = false;
bool firstWasPolled = false;
auto command1 = FunctionalCommand(
[] {}, [&firstHasRun] { firstHasRun = true; }, [](bool interrupted) {},
[&firstWasPolled] {
firstWasPolled = true;
return true;
});
auto command2 = RunCommand([&firstHasRun, &firstWasPolled] {
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
});
auto group = std::move(command1).AlongWith(std::move(command2).ToPtr());
scheduler.Schedule(group);
scheduler.Run();
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
}
TEST_F(CommandDecoratorTest, RaceWithOrder) {
CommandScheduler scheduler = GetScheduler();
bool firstHasRun = false;
bool firstWasPolled = false;
auto command1 = FunctionalCommand(
[] {}, [&firstHasRun] { firstHasRun = true; }, [](bool interrupted) {},
[&firstWasPolled] {
firstWasPolled = true;
return true;
});
auto command2 = RunCommand([&firstHasRun, &firstWasPolled] {
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
});
auto group = std::move(command1).RaceWith(std::move(command2).ToPtr());
scheduler.Schedule(group);
scheduler.Run();
EXPECT_TRUE(firstHasRun);
EXPECT_TRUE(firstWasPolled);
}
TEST_F(CommandDecoratorTest, Unless) {
CommandScheduler scheduler = GetScheduler();