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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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62
wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.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/ConditionalCommand.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/SelectCommand.h"
using namespace frc2;
class SelectCommandTest : public CommandTestBase {};
TEST_F(SelectCommandTest, SelectCommandTest) {
CommandScheduler scheduler = GetScheduler();
std::unique_ptr<MockCommand> mock = std::make_unique<MockCommand>();
MockCommand* mockptr = mock.get();
EXPECT_CALL(*mock, Initialize());
EXPECT_CALL(*mock, Execute()).Times(2);
EXPECT_CALL(*mock, End(false));
std::vector<std::pair<int, std::unique_ptr<Command>>> temp;
temp.emplace_back(std::pair(1, std::move(mock)));
temp.emplace_back(std::pair(2, std::make_unique<InstantCommand>()));
temp.emplace_back(std::pair(3, std::make_unique<InstantCommand>()));
SelectCommand<int> select([] { return 1; }, std::move(temp));
scheduler.Schedule(&select);
scheduler.Run();
mockptr->SetFinished(true);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&select));
}
TEST_F(SelectCommandTest, SelectCommandRequirementTest) {
CommandScheduler scheduler = GetScheduler();
TestSubsystem requirement1;
TestSubsystem requirement2;
TestSubsystem requirement3;
TestSubsystem requirement4;
InstantCommand command1([] {}, {&requirement1, &requirement2});
InstantCommand command2([] {}, {&requirement3});
InstantCommand command3([] {}, {&requirement3, &requirement4});
SelectCommand<int> select([] { return 1; }, std::pair(1, std::move(command1)),
std::pair(2, std::move(command2)));
scheduler.Schedule(&select);
scheduler.Schedule(&command3);
EXPECT_TRUE(scheduler.IsScheduled(&command3));
EXPECT_FALSE(scheduler.IsScheduled(&select));
}