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[wpilib] Make BooleanEvent more consistent (#5436)
Co-authored-by: Tyler Veness <calcmogul@gmail.com> Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
This commit is contained in:
Gold856
487
wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
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487
wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <atomic>
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#include <gtest/gtest.h>
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#include "frc/event/BooleanEvent.h"
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#include "frc/event/EventLoop.h"
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using namespace frc;
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TEST(BooleanEventTest, BinaryCompositions) {
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EventLoop loop;
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int andCounter = 0;
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int orCounter = 0;
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EXPECT_EQ(0, andCounter);
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EXPECT_EQ(0, orCounter);
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(BooleanEvent(&loop, [] { return true; }) && BooleanEvent(&loop, [] {
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return false;
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})).IfHigh([&] { ++andCounter; });
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(BooleanEvent(&loop, [] { return true; }) || BooleanEvent(&loop, [] {
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return false;
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})).IfHigh([&] { ++orCounter; });
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loop.Poll();
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EXPECT_EQ(0, andCounter);
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EXPECT_EQ(1, orCounter);
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}
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/**
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* Tests that composed edge events only execute on edges (two
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* rising edge events composed with and() should only execute when both signals
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* are on the rising edge)
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*/
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TEST(BooleanEventTest, BinaryCompositionsWithEdgeDecorators) {
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EventLoop loop;
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bool boolean1 = false;
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bool boolean2 = false;
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bool boolean3 = false;
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bool boolean4 = false;
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int counter = 0;
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auto event1 = BooleanEvent(&loop, [&] { return boolean1; }).Rising();
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auto event2 = BooleanEvent(&loop, [&] { return boolean2; }).Rising();
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auto event3 = BooleanEvent(&loop, [&] { return boolean3; }).Rising();
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auto event4 = BooleanEvent(&loop, [&] { return boolean4; }).Rising();
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(event1 && event2).IfHigh([&] { ++counter; });
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(event3 || event4).IfHigh([&] { ++counter; });
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EXPECT_EQ(0, counter);
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boolean1 = true;
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boolean2 = true;
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boolean3 = true;
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boolean4 = true;
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loop.Poll(); // Both actions execute
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EXPECT_EQ(2, counter);
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loop.Poll(); // Nothing should happen since nothing is on rising edge
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EXPECT_EQ(2, counter);
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boolean1 = false;
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boolean2 = false;
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boolean3 = false;
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boolean4 = false;
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loop.Poll(); // Nothing should happen
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EXPECT_EQ(2, counter);
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boolean1 = true;
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loop.Poll(); // Nothing should happen since only Bool 1 is on rising edge
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EXPECT_EQ(2, counter);
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boolean2 = true;
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loop.Poll(); // Bool 2 is on rising edge, but Bool 1 isn't, nothing should
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// happen
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EXPECT_EQ(2, counter);
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boolean1 = false;
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boolean2 = false;
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loop.Poll(); // Nothing should happen
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EXPECT_EQ(2, counter);
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boolean1 = true;
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boolean2 = true;
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loop.Poll(); // Bool 1 and 2 are on rising edge, increments counter once
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EXPECT_EQ(3, counter);
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boolean3 = true;
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loop.Poll(); // Bool 3 is on rising edge, increments counter once
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EXPECT_EQ(4, counter);
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loop.Poll(); // Nothing should happen, Bool 3 isn't on rising edge
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EXPECT_EQ(4, counter);
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boolean4 = true;
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loop.Poll(); // Bool 4 is on rising edge, increments counter once
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EXPECT_EQ(5, counter);
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loop.Poll(); // Nothing should happen, Bool 4 isn't on rising edge
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EXPECT_EQ(5, counter);
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}
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TEST(BooleanEventTest, BinaryCompositionLoopSemantics) {
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EventLoop loop1;
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EventLoop loop2;
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bool boolean1 = true;
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bool boolean2 = true;
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int counter1 = 0;
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int counter2 = 0;
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(BooleanEvent(&loop1, [&] { return boolean1; }) && BooleanEvent(&loop2, [&] {
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return boolean2;
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})).IfHigh([&] { ++counter1; });
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(BooleanEvent(&loop2, [&] { return boolean2; }) && BooleanEvent(&loop1, [&] {
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return boolean1;
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})).IfHigh([&] { ++counter2; });
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EXPECT_EQ(0, counter1);
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EXPECT_EQ(0, counter2);
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loop1
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.Poll(); // 1st event executes, Bool 1 and 2 are true, increments counter
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EXPECT_EQ(1, counter1);
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EXPECT_EQ(0, counter2);
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loop2
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.Poll(); // 2nd event executes, Bool 1 and 2 are true, increments counter
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EXPECT_EQ(1, counter1);
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EXPECT_EQ(1, counter2);
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boolean2 = false;
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loop1.Poll(); // 1st event executes, Bool 2 is still true because loop 2
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// hasn't updated it, increments counter
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EXPECT_EQ(2, counter1);
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EXPECT_EQ(1, counter2);
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loop2.Poll(); // 2nd event executes, Bool 2 is now false because this loop
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// updated it, does nothing
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EXPECT_EQ(2, counter1);
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EXPECT_EQ(1, counter2);
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loop1.Poll(); // All bools are updated at this point, nothing should happen
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EXPECT_EQ(2, counter1);
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EXPECT_EQ(1, counter2);
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boolean2 = true;
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loop2.Poll(); // 2nd event executes, Bool 2 is true because this loop updated
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// it, increments counter
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EXPECT_EQ(2, counter1);
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EXPECT_EQ(2, counter2);
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loop1.Poll(); // 1st event executes, Bool 2 is true because loop 2 updated
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// it, increments counter
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EXPECT_EQ(3, counter1);
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EXPECT_EQ(2, counter2);
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boolean1 = false;
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loop2.Poll(); // 2nd event executes, Bool 1 is still true because loop 1
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// hasn't updated it, increments counter
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EXPECT_EQ(3, counter1);
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EXPECT_EQ(3, counter2);
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loop1.Poll(); // 1st event executes, Bool 1 is false because this loop
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// updated it, does nothing
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EXPECT_EQ(3, counter1);
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EXPECT_EQ(3, counter2);
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loop2.Poll(); // All bools are updated at this point, nothing should happen
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EXPECT_EQ(3, counter1);
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EXPECT_EQ(3, counter2);
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}
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/** Tests the order of actions bound to an event loop. */
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TEST(BooleanEventTest, PollOrdering) {
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EventLoop loop;
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bool boolean1 = true;
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bool boolean2 = true;
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bool enableAssert = false;
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int counter = 0;
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(BooleanEvent( // This event binds an action to the event loop first
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&loop,
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[&] {
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if (enableAssert) {
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++counter;
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EXPECT_EQ(1, counter % 3);
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}
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return boolean1;
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}) && // The composed event binds an action to the event loop third
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// This event binds an action to the event loop second
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BooleanEvent(&loop, [&] {
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if (enableAssert) {
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++counter;
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EXPECT_EQ(2, counter % 3);
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}
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return boolean2;
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// This binds an action to the event loop fourth
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})).IfHigh([&] {
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if (enableAssert) {
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++counter;
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EXPECT_EQ(0, counter % 3);
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}
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});
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enableAssert = true;
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loop.Poll();
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loop.Poll();
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loop.Poll();
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loop.Poll();
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}
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TEST(BooleanEventTest, EdgeDecorators) {
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EventLoop loop;
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bool boolean = false;
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int counter = 0;
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BooleanEvent(&loop, [&] { return boolean; }).Falling().IfHigh([&] {
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--counter;
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});
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BooleanEvent(&loop, [&] { return boolean; }).Rising().IfHigh([&] {
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++counter;
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});
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EXPECT_EQ(0, counter);
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boolean = false;
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loop.Poll();
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EXPECT_EQ(0, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(1, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(1, counter);
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boolean = false;
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loop.Poll();
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EXPECT_EQ(0, counter);
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}
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/**
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* Tests that binding actions to the same edge event will result in all actions
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* executing.
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*/
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TEST(BooleanEventTest, EdgeReuse) {
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EventLoop loop;
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bool boolean = false;
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int counter = 0;
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auto event = BooleanEvent(&loop, [&] { return boolean; }).Rising();
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event.IfHigh([&] { ++counter; });
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event.IfHigh([&] { ++counter; });
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EXPECT_EQ(0, counter);
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loop.Poll();
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EXPECT_EQ(0, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(2, counter);
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loop.Poll();
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EXPECT_EQ(2, counter);
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boolean = false;
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loop.Poll();
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EXPECT_EQ(2, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(4, counter);
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}
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/**
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* Tests that all actions execute on separate edge events constructed from the
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* original event.
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*/
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TEST(BooleanEventTest, EdgeReconstruct) {
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EventLoop loop;
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bool boolean = false;
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int counter = 0;
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auto event = BooleanEvent(&loop, [&] { return boolean; });
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event.Rising().IfHigh([&] { ++counter; });
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event.Rising().IfHigh([&] { ++counter; });
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EXPECT_EQ(0, counter);
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loop.Poll();
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EXPECT_EQ(0, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(2, counter);
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loop.Poll();
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EXPECT_EQ(2, counter);
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boolean = false;
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loop.Poll();
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EXPECT_EQ(2, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(4, counter);
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}
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/** Tests that all actions bound to an event will still execute even if the
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* signal is changed during the loop poll */
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TEST(BooleanEventTest, MidLoopBooleanChange) {
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EventLoop loop;
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bool boolean = false;
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int counter = 0;
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auto event = BooleanEvent(&loop, [&] { return boolean; }).Rising();
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event.IfHigh([&] {
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boolean = false;
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++counter;
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});
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event.IfHigh([&] { ++counter; });
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EXPECT_EQ(0, counter);
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loop.Poll();
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EXPECT_EQ(0, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(2, counter);
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loop.Poll();
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EXPECT_EQ(2, counter);
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boolean = false;
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loop.Poll();
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EXPECT_EQ(2, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(4, counter);
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}
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/**
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* Tests that all actions bound to composed events will still execute even if
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* the composed signal changes during the loop poll.
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*/
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TEST(BooleanEventTest, MidLoopBooleanChangeWithComposedEvents) {
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EventLoop loop;
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bool boolean1 = false;
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bool boolean2 = false;
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bool boolean3 = false;
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bool boolean4 = false;
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int counter = 0;
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auto event1 = BooleanEvent(&loop, [&] { return boolean1; });
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auto event2 = BooleanEvent(&loop, [&] { return boolean2; });
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auto event3 = BooleanEvent(&loop, [&] { return boolean3; });
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auto event4 = BooleanEvent(&loop, [&] { return boolean4; });
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event1.IfHigh([&] {
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boolean2 = false;
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boolean3 = false;
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++counter;
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});
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(event3 || event4).IfHigh([&] {
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boolean1 = false;
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++counter;
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});
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(event1 && event2).IfHigh([&] {
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boolean4 = false;
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++counter;
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});
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EXPECT_EQ(0, counter);
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boolean1 = true;
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boolean2 = true;
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boolean3 = true;
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boolean4 = true;
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loop.Poll(); // All three actions execute, incrementing the counter three
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// times and setting all booleans to false
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EXPECT_EQ(3, counter);
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loop.Poll(); // Nothing should happen since everything was set to false
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EXPECT_EQ(3, counter);
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boolean1 = true;
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boolean2 = true;
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loop.Poll(); // Bool 1 and 2 are true, increments counter twice, Bool 2 gets
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// set to false
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EXPECT_EQ(5, counter);
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boolean1 = false;
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loop.Poll(); // Nothing should happen
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EXPECT_EQ(5, counter);
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boolean1 = true;
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boolean3 = true;
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loop.Poll(); // Bool 1 and 3 are true, increments counter twice, Bool 3 gets
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// set to false
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EXPECT_EQ(7, counter);
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boolean1 = false;
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boolean4 = true;
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loop.Poll(); // Bool 4 is true, increments counter once
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EXPECT_EQ(8, counter);
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}
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TEST(BooleanEventTest, Negation) {
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EventLoop loop;
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bool boolean = false;
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int counter = 0;
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(!BooleanEvent(&loop, [&] { return boolean; })).IfHigh([&] { ++counter; });
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EXPECT_EQ(0, counter);
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loop.Poll();
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EXPECT_EQ(1, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(1, counter);
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boolean = false;
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loop.Poll();
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EXPECT_EQ(2, counter);
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boolean = true;
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loop.Poll();
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EXPECT_EQ(2, counter);
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}
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