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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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84
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.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/ConditionalCommand.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/ParallelCommandGroup.h"
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/SelectCommand.h"
#include "frc2/command/SequentialCommandGroup.h"
using namespace frc2;
class CommandRequirementsTest : public CommandTestBase {};
TEST_F(CommandRequirementsTest, RequirementInterruptTest) {
CommandScheduler scheduler = GetScheduler();
TestSubsystem requirement;
MockCommand command1({&requirement});
MockCommand command2({&requirement});
EXPECT_CALL(command1, Initialize());
EXPECT_CALL(command1, Execute());
EXPECT_CALL(command1, End(true));
EXPECT_CALL(command1, End(false)).Times(0);
EXPECT_CALL(command2, Initialize());
EXPECT_CALL(command2, Execute());
EXPECT_CALL(command2, End(true)).Times(0);
EXPECT_CALL(command2, End(false)).Times(0);
scheduler.Schedule(&command1);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command1));
scheduler.Schedule(&command2);
EXPECT_FALSE(scheduler.IsScheduled(&command1));
EXPECT_TRUE(scheduler.IsScheduled(&command2));
scheduler.Run();
}
TEST_F(CommandRequirementsTest, RequirementUninterruptibleTest) {
CommandScheduler scheduler = GetScheduler();
TestSubsystem requirement;
MockCommand command1({&requirement});
MockCommand command2({&requirement});
EXPECT_CALL(command1, Initialize());
EXPECT_CALL(command1, Execute()).Times(2);
EXPECT_CALL(command1, End(true)).Times(0);
EXPECT_CALL(command1, End(false)).Times(0);
EXPECT_CALL(command2, Initialize()).Times(0);
EXPECT_CALL(command2, Execute()).Times(0);
EXPECT_CALL(command2, End(true)).Times(0);
EXPECT_CALL(command2, End(false)).Times(0);
scheduler.Schedule(false, &command1);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command1));
scheduler.Schedule(&command2);
EXPECT_TRUE(scheduler.IsScheduled(&command1));
EXPECT_FALSE(scheduler.IsScheduled(&command2));
scheduler.Run();
}
TEST_F(CommandRequirementsTest, DefaultCommandRequirementErrorTest) {
TestSubsystem requirement1;
ErrorConfirmer confirmer("require");
MockCommand command1;
requirement1.SetDefaultCommand(std::move(command1));
EXPECT_TRUE(requirement1.GetDefaultCommand() == NULL);
}