[robotpy] Mirror robotpy's commands-v2 (#8369)

Project import generated by Copybara.

GitOrigin-RevId: 715c8e8372d936f447f2937aab6b1a22dc619126

commandsv2/src/test/python/test_paralleldeadlinegroup.py

@@ -0,0 +1,119 @@
+from typing import TYPE_CHECKING
+
+import commands2
+from compositiontestbase import MultiCompositionTestBase  # type: ignore
+from util import *  # type: ignore
+
+# from tests.compositiontestbase import T
+
+if TYPE_CHECKING:
+    from .util import *
+    from .compositiontestbase import MultiCompositionTestBase
+
+import pytest
+
+
+class TestParallelDeadlineGroupComposition(MultiCompositionTestBase):
+    def compose(self, *members: commands2.Command):
+        return commands2.ParallelDeadlineGroup(members[0], *members[1:])
+
+
+def test_parallelDeadlineSchedule(scheduler: commands2.CommandScheduler):
+    command1 = commands2.Command()
+    command2 = commands2.Command()
+    command2.isFinished = lambda: True
+    command3 = commands2.Command()
+
+    start_spying_on(command1)
+    start_spying_on(command2)
+    start_spying_on(command3)
+
+    group = commands2.ParallelDeadlineGroup(command1, command2, command3)
+
+    scheduler.schedule(group)
+    scheduler.run()
+
+    assert scheduler.isScheduled(group)
+
+    command1.isFinished = lambda: True
+    scheduler.run()
+
+    assert not scheduler.isScheduled(group)
+
+    verify(command2).initialize()
+    verify(command2).execute()
+    verify(command2).end(False)
+    verify(command2, never()).end(True)
+
+    verify(command1).initialize()
+    verify(command1, times(2)).execute()
+    verify(command1).end(False)
+    verify(command1, never()).end(True)
+
+    verify(command3).initialize()
+    verify(command3, times(2)).execute()
+    verify(command3, never()).end(False)
+    verify(command3).end(True)
+
+
+def test_parallelDeadlineInterrupt(scheduler: commands2.CommandScheduler):
+    command1 = commands2.Command()
+    command2 = commands2.Command()
+    command2.isFinished = lambda: True
+
+    start_spying_on(command1)
+    start_spying_on(command2)
+
+    group = commands2.ParallelDeadlineGroup(command1, command2)
+
+    scheduler.schedule(group)
+
+    scheduler.run()
+    scheduler.run()
+    scheduler.cancel(group)
+
+    verify(command1, times(2)).execute()
+    verify(command1, never()).end(False)
+    verify(command1).end(True)
+
+    verify(command2).execute()
+    verify(command2).end(False)
+    verify(command2, never()).end(True)
+
+    assert not scheduler.isScheduled(group)
+
+
+def test_parallelDeadlineRequirement(scheduler: commands2.CommandScheduler):
+    system1 = commands2.Subsystem()
+    system2 = commands2.Subsystem()
+    system3 = commands2.Subsystem()
+    system4 = commands2.Subsystem()
+
+    command1 = commands2.Command()
+    command1.addRequirements(system1, system2)
+    command2 = commands2.Command()
+    command2.addRequirements(system3)
+    command3 = commands2.Command()
+    command3.addRequirements(system3, system4)
+
+    group = commands2.ParallelDeadlineGroup(command1, command2)
+
+    scheduler.schedule(group)
+    scheduler.schedule(command3)
+
+    assert not scheduler.isScheduled(group)
+    assert scheduler.isScheduled(command3)
+
+
+def test_parallelDeadlineRequirementError(scheduler: commands2.CommandScheduler):
+    system1 = commands2.Subsystem()
+    system2 = commands2.Subsystem()
+    system3 = commands2.Subsystem()
+
+    command1 = commands2.Command()
+    command1.addRequirements(system1, system2)
+    command2 = commands2.Command()
+    command2.addRequirements(system2, system3)
+
+    with pytest.raises(commands2.IllegalCommandUse):
+        commands2.ParallelDeadlineGroup(command1, command2)