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Fix C++ ParallelRaceGroup multiple calls behavior (#2339)

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The Java version was correct, but the C++ version would only run once.
This commit is contained in:
sciencewhiz
2020-02-08 10:26:06 -08:00
committed by GitHub
parent e93b64f58d
commit 1b85066d26
3 changed files with 102 additions and 3 deletions
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3
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -15,6 +15,7 @@ ParallelRaceGroup::ParallelRaceGroup(
}
void ParallelRaceGroup::Initialize() {
m_finished = false;
for (auto& commandRunning : m_commands) {
commandRunning->Initialize();
}

49
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -15,6 +15,7 @@ import static org.junit.jupiter.api.Assertions.assertNotNull;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.reset;
import static org.mockito.Mockito.times;
import static org.mockito.Mockito.verify;
@@ -160,4 +161,50 @@ class ParallelRaceGroupTest extends CommandTestBase {
}
@Test
void parallelRaceScheduleTwiceTest() {
CommandScheduler scheduler = new CommandScheduler();
MockCommandHolder command1Holder = new MockCommandHolder(true);
Command command1 = command1Holder.getMock();
MockCommandHolder command2Holder = new MockCommandHolder(true);
Command command2 = command2Holder.getMock();
Command group = new ParallelRaceGroup(command1, command2);
scheduler.schedule(group);
verify(command1).initialize();
verify(command2).initialize();
command1Holder.setFinished(true);
scheduler.run();
command2Holder.setFinished(true);
scheduler.run();
verify(command1).execute();
verify(command1).end(false);
verify(command2).execute();
verify(command2).end(true);
verify(command2, never()).end(false);
assertFalse(scheduler.isScheduled(group));
reset(command1);
reset(command2);
scheduler.schedule(group);
verify(command1).initialize();
verify(command2).initialize();
scheduler.run();
scheduler.run();
assertTrue(scheduler.isScheduled(group));
command2Holder.setFinished(true);
scheduler.run();
assertFalse(scheduler.isScheduled(group));
}
}

53
wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -154,3 +154,54 @@ TEST_F(ParallelRaceGroupTest, ParallelRaceOnlyCallsEndOnceTest) {
EXPECT_NO_FATAL_FAILURE(scheduler.Run());
EXPECT_FALSE(scheduler.IsScheduled(&group2));
}
TEST_F(ParallelRaceGroupTest, ParallelRaceScheduleTwiceTest) {
CommandScheduler scheduler = GetScheduler();
std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
std::unique_ptr<MockCommand> command3Holder = std::make_unique<MockCommand>();
MockCommand* command1 = command1Holder.get();
MockCommand* command2 = command2Holder.get();
MockCommand* command3 = command3Holder.get();
ParallelRaceGroup group{tcb::make_vector<std::unique_ptr<Command>>(
std::move(command1Holder), std::move(command2Holder),
std::move(command3Holder))};
EXPECT_CALL(*command1, Initialize()).Times(2);
EXPECT_CALL(*command1, Execute()).Times(5);
EXPECT_CALL(*command1, End(true)).Times(2);
EXPECT_CALL(*command2, Initialize()).Times(2);
EXPECT_CALL(*command2, Execute()).Times(5);
EXPECT_CALL(*command2, End(false)).Times(2);
EXPECT_CALL(*command3, Initialize()).Times(2);
EXPECT_CALL(*command3, Execute()).Times(5);
EXPECT_CALL(*command3, End(true)).Times(2);
scheduler.Schedule(&group);
scheduler.Run();
command2->SetFinished(true);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&group));
command2->SetFinished(false);
scheduler.Schedule(&group);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&group));
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&group));
command2->SetFinished(true);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&group));
}