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Split the two command implementations into separate libraries (#2012)

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This will allow us at the user code side to determine to include old commands, new commands or both.
This commit is contained in:
Thad House
2019-11-01 21:58:54 -07:00
committed by Peter Johnson
parent 2ad15cae19
commit 509819d83f
271 changed files with 470 additions and 91 deletions
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195
wpilibNewCommands/src/test/native/cpp/frc2/command/ButtonTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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. */
/*----------------------------------------------------------------------------*/
#include "CommandTestBase.h"
#include "frc2/command/CommandScheduler.h"
#include "frc2/command/RunCommand.h"
#include "frc2/command/WaitUntilCommand.h"
#include "frc2/command/button/Trigger.h"
#include "gtest/gtest.h"
using namespace frc2;
class ButtonTest : public CommandTestBase {};
TEST_F(ButtonTest, WhenPressedTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed = false;
WaitUntilCommand command([&finished] { return finished; });
Trigger([&pressed] { return pressed; }).WhenActive(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
finished = true;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
}
TEST_F(ButtonTest, WhenReleasedTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed = false;
WaitUntilCommand command([&finished] { return finished; });
pressed = true;
Trigger([&pressed] { return pressed; }).WhenInactive(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed = false;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
finished = true;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
}
TEST_F(ButtonTest, WhileHeldTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed = false;
WaitUntilCommand command([&finished] { return finished; });
pressed = false;
Trigger([&pressed] { return pressed; }).WhileActiveContinous(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
finished = true;
scheduler.Run();
finished = false;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
pressed = false;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
}
TEST_F(ButtonTest, WhenHeldTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed = false;
WaitUntilCommand command([&finished] { return finished; });
pressed = false;
Trigger([&pressed] { return pressed; }).WhileActiveOnce(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
finished = true;
scheduler.Run();
finished = false;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed = false;
Trigger([&pressed] { return pressed; }).WhileActiveOnce(&command);
pressed = true;
scheduler.Run();
pressed = false;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
}
TEST_F(ButtonTest, ToggleWhenPressedTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed = false;
WaitUntilCommand command([&finished] { return finished; });
pressed = false;
Trigger([&pressed] { return pressed; }).ToggleWhenActive(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
pressed = false;
scheduler.Run();
pressed = true;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
}
TEST_F(ButtonTest, AndTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed1 = false;
bool pressed2 = false;
WaitUntilCommand command([&finished] { return finished; });
(Trigger([&pressed1] { return pressed1; }) &&
Trigger([&pressed2] { return pressed2; }))
.WhenActive(&command);
pressed1 = true;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed2 = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
}
TEST_F(ButtonTest, OrTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed1 = false;
bool pressed2 = false;
WaitUntilCommand command1([&finished] { return finished; });
WaitUntilCommand command2([&finished] { return finished; });
(Trigger([&pressed1] { return pressed1; }) ||
Trigger([&pressed2] { return pressed2; }))
.WhenActive(&command1);
pressed1 = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command1));
pressed1 = false;
(Trigger([&pressed1] { return pressed1; }) ||
Trigger([&pressed2] { return pressed2; }))
.WhenActive(&command2);
pressed2 = true;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command2));
}
TEST_F(ButtonTest, NegateTest) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed = true;
WaitUntilCommand command([&finished] { return finished; });
(!Trigger([&pressed] { return pressed; })).WhenActive(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
pressed = false;
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
}
TEST_F(ButtonTest, RValueButtonTest) {
auto& scheduler = CommandScheduler::GetInstance();
int counter = 0;
bool pressed = false;
RunCommand command([&counter] { counter++; }, {});
Trigger([&pressed] { return pressed; }).WhenActive(std::move(command));
scheduler.Run();
EXPECT_EQ(counter, 0);
pressed = true;
scheduler.Run();
EXPECT_EQ(counter, 1);
}