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[commands] Fix RepeatCommand calling end() twice (#5261)

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This commit is contained in:
Joseph Eng
2023-04-28 20:57:33 -07:00
committed by GitHub
parent 9cbeb841f5
commit 40ca094686
4 changed files with 82 additions and 44 deletions
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99
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java
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@@ -14,54 +14,69 @@ class RepeatCommandTest extends CommandTestBase
implements SingleCompositionTestBase<RepeatCommand> {
@Test
void callsMethodsCorrectly() {
var initCounter = new AtomicInteger(0);
var exeCounter = new AtomicInteger(0);
var isFinishedCounter = new AtomicInteger(0);
var endCounter = new AtomicInteger(0);
var isFinishedHook = new AtomicBoolean(false);
try (CommandScheduler scheduler = new CommandScheduler()) {
var initCounter = new AtomicInteger(0);
var exeCounter = new AtomicInteger(0);
var isFinishedCounter = new AtomicInteger(0);
var endCounter = new AtomicInteger(0);
var isFinishedHook = new AtomicBoolean(false);
final var command =
new FunctionalCommand(
initCounter::incrementAndGet,
exeCounter::incrementAndGet,
interrupted -> endCounter.incrementAndGet(),
() -> {
isFinishedCounter.incrementAndGet();
return isFinishedHook.get();
})
.repeatedly();
final var command =
new FunctionalCommand(
initCounter::incrementAndGet,
exeCounter::incrementAndGet,
interrupted -> endCounter.incrementAndGet(),
() -> {
isFinishedCounter.incrementAndGet();
return isFinishedHook.get();
})
.repeatedly();
assertEquals(0, initCounter.get());
assertEquals(0, exeCounter.get());
assertEquals(0, isFinishedCounter.get());
assertEquals(0, endCounter.get());
assertEquals(0, initCounter.get());
assertEquals(0, exeCounter.get());
assertEquals(0, isFinishedCounter.get());
assertEquals(0, endCounter.get());
CommandScheduler.getInstance().schedule(command);
assertEquals(1, initCounter.get());
assertEquals(0, exeCounter.get());
assertEquals(0, isFinishedCounter.get());
assertEquals(0, endCounter.get());
scheduler.schedule(command);
assertEquals(1, initCounter.get());
assertEquals(0, exeCounter.get());
assertEquals(0, isFinishedCounter.get());
assertEquals(0, endCounter.get());
isFinishedHook.set(false);
CommandScheduler.getInstance().run();
assertEquals(1, initCounter.get());
assertEquals(1, exeCounter.get());
assertEquals(1, isFinishedCounter.get());
assertEquals(0, endCounter.get());
isFinishedHook.set(false);
scheduler.run();
assertEquals(1, initCounter.get());
assertEquals(1, exeCounter.get());
assertEquals(1, isFinishedCounter.get());
assertEquals(0, endCounter.get());
isFinishedHook.set(true);
CommandScheduler.getInstance().run();
assertEquals(1, initCounter.get());
assertEquals(2, exeCounter.get());
assertEquals(2, isFinishedCounter.get());
assertEquals(1, endCounter.get());
isFinishedHook.set(true);
scheduler.run();
assertEquals(1, initCounter.get());
assertEquals(2, exeCounter.get());
assertEquals(2, isFinishedCounter.get());
assertEquals(1, endCounter.get());
isFinishedHook.set(false);
CommandScheduler.getInstance().run();
assertEquals(2, initCounter.get());
assertEquals(3, exeCounter.get());
assertEquals(3, isFinishedCounter.get());
assertEquals(1, endCounter.get());
isFinishedHook.set(false);
scheduler.run();
assertEquals(2, initCounter.get());
assertEquals(3, exeCounter.get());
assertEquals(3, isFinishedCounter.get());
assertEquals(1, endCounter.get());
isFinishedHook.set(true);
scheduler.run();
assertEquals(2, initCounter.get());
assertEquals(4, exeCounter.get());
assertEquals(4, isFinishedCounter.get());
assertEquals(2, endCounter.get());
scheduler.cancel(command);
assertEquals(2, initCounter.get());
assertEquals(4, exeCounter.get());
assertEquals(4, isFinishedCounter.get());
assertEquals(2, endCounter.get());
}
}
@Override