[copybara] Resync robotpy (#8585)

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GitOrigin-RevId: fd000778e9b78c72cc7ca7b2ebe476129b78c6e0

wpilibc/src/test/python/test_boolean_event.py

@@ -0,0 +1,476 @@
+from wpilib import BooleanEvent, EventLoop
+
+
+def test_binary_compositions():
+    loop = EventLoop()
+    and_counter = {"value": 0}
+    or_counter = {"value": 0}
+
+    def inc_and():
+        and_counter["value"] += 1
+
+    def inc_or():
+        or_counter["value"] += 1
+
+    assert and_counter["value"] == 0
+    assert or_counter["value"] == 0
+
+    BooleanEvent(loop, lambda: True).and_(lambda: False).ifHigh(inc_and)
+    BooleanEvent(loop, lambda: True).or_(lambda: False).ifHigh(inc_or)
+
+    loop.poll()
+
+    assert and_counter["value"] == 0
+    assert or_counter["value"] == 1
+
+
+def test_binary_compositions_with_edge_decorators():
+    loop = EventLoop()
+    bool1 = {"value": False}
+    bool2 = {"value": False}
+    bool3 = {"value": False}
+    bool4 = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event1 = BooleanEvent(loop, lambda: bool1["value"]).rising()
+    event2 = BooleanEvent(loop, lambda: bool2["value"]).rising()
+    event3 = BooleanEvent(loop, lambda: bool3["value"]).rising()
+    event4 = BooleanEvent(loop, lambda: bool4["value"]).rising()
+    event1.and_(event2).ifHigh(inc)
+    event3.or_(event4).ifHigh(inc)
+    assert counter["value"] == 0
+
+    bool1["value"] = True
+    bool2["value"] = True
+    bool3["value"] = True
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = False
+    bool2["value"] = False
+    bool3["value"] = False
+    bool4["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = False
+    bool2["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = True
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    bool3["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+    loop.poll()
+
+    assert counter["value"] == 4
+
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    loop.poll()
+
+    assert counter["value"] == 5
+
+
+def test_binary_composition_loop_semantics():
+    loop1 = EventLoop()
+    loop2 = EventLoop()
+    bool1 = {"value": True}
+    bool2 = {"value": True}
+    counter1 = {"value": 0}
+    counter2 = {"value": 0}
+
+    def inc1():
+        counter1["value"] += 1
+
+    def inc2():
+        counter2["value"] += 1
+
+    BooleanEvent(loop1, lambda: bool1["value"]).and_(
+        BooleanEvent(loop2, lambda: bool2["value"])
+    ).ifHigh(inc1)
+
+    BooleanEvent(loop2, lambda: bool2["value"]).and_(
+        BooleanEvent(loop1, lambda: bool1["value"])
+    ).ifHigh(inc2)
+
+    assert counter1["value"] == 0
+    assert counter2["value"] == 0
+
+    loop1.poll()
+
+    assert counter1["value"] == 1
+    assert counter2["value"] == 0
+
+    loop2.poll()
+
+    assert counter1["value"] == 1
+    assert counter2["value"] == 1
+
+    bool2["value"] = False
+    loop1.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    loop2.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    loop1.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    bool2["value"] = True
+    loop2.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 2
+
+    loop1.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 2
+
+    bool1["value"] = False
+    loop2.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+    loop1.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+    loop2.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+
+def test_poll_ordering():
+    loop = EventLoop()
+    bool1 = {"value": True}
+    bool2 = {"value": True}
+    enable_assert = {"value": False}
+    counter = {"value": 0}
+
+    def action1():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 1
+        return bool1["value"]
+
+    def action2():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 2
+        return bool2["value"]
+
+    def action3():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 0
+
+    BooleanEvent(loop, action1).and_(BooleanEvent(loop, action2)).ifHigh(action3)
+    enable_assert["value"] = True
+    loop.poll()
+    loop.poll()
+    loop.poll()
+    loop.poll()
+
+
+def test_edge_decorators():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    def dec():
+        counter["value"] -= 1
+
+    BooleanEvent(loop, lambda: flag["value"]).falling().ifHigh(dec)
+    BooleanEvent(loop, lambda: flag["value"]).rising().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 0
+
+
+def test_edge_reuse():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"]).rising()
+    event.ifHigh(inc)
+    event.ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_edge_reconstruct():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"])
+    event.rising().ifHigh(inc)
+    event.rising().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_mid_loop_boolean_change():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"]).rising()
+
+    def first_action():
+        flag["value"] = False
+        counter["value"] += 1
+
+    event.ifHigh(first_action)
+    event.ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_mid_loop_boolean_change_with_composed_events():
+    loop = EventLoop()
+    bool1 = {"value": False}
+    bool2 = {"value": False}
+    bool3 = {"value": False}
+    bool4 = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event1 = BooleanEvent(loop, lambda: bool1["value"])
+    event2 = BooleanEvent(loop, lambda: bool2["value"])
+    event3 = BooleanEvent(loop, lambda: bool3["value"])
+    event4 = BooleanEvent(loop, lambda: bool4["value"])
+
+    def action1():
+        bool2["value"] = False
+        bool3["value"] = False
+        counter["value"] += 1
+
+    event1.ifHigh(action1)
+
+    def action2():
+        bool1["value"] = False
+        counter["value"] += 1
+
+    event3.or_(event4).ifHigh(action2)
+
+    def action3():
+        bool4["value"] = False
+        counter["value"] += 1
+
+    event1.and_(event2).ifHigh(action3)
+
+    assert counter["value"] == 0
+
+    bool1["value"] = True
+    bool2["value"] = True
+    bool3["value"] = True
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    bool1["value"] = True
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    bool1["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    bool1["value"] = True
+    bool3["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 7
+
+    bool1["value"] = False
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 8
+
+
+def test_negation():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    BooleanEvent(loop, lambda: flag["value"]).negate().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2