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[commands] RepeatCommand: restart on following iteration (#4706)

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This fixes InstantCommand.repeatedly().
This commit is contained in:
Starlight220
2022-11-26 09:50:42 +02:00
committed by GitHub
parent dd1da77d20
commit 58ed112b51
7 changed files with 79 additions and 11 deletions
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28
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java
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@@ -6,19 +6,16 @@ package edu.wpi.first.wpilibj2.command;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
import org.junit.jupiter.params.provider.ValueSource;
class RepeatCommandTest {
class RepeatCommandTest extends CommandTestBase {
@Test
void callsMethodsCorrectly() {
HAL.initialize(500, 0);
// enable so that we don't need to mess with `runsWhenDisabled` for each command
DriverStationSim.setEnabled(true);
var initCounter = new AtomicInteger(0);
var exeCounter = new AtomicInteger(0);
var isFinishedCounter = new AtomicInteger(0);
@@ -56,7 +53,7 @@ class RepeatCommandTest {
isFinishedHook.set(true);
CommandScheduler.getInstance().run();
assertEquals(2, initCounter.get());
assertEquals(1, initCounter.get());
assertEquals(2, exeCounter.get());
assertEquals(2, isFinishedCounter.get());
assertEquals(1, endCounter.get());
@@ -68,4 +65,19 @@ class RepeatCommandTest {
assertEquals(3, isFinishedCounter.get());
assertEquals(1, endCounter.get());
}
@EnumSource(Command.InterruptionBehavior.class)
@ParameterizedTest
void interruptible(Command.InterruptionBehavior interruptionBehavior) {
var command =
new WaitUntilCommand(() -> false).withInterruptBehavior(interruptionBehavior).repeatedly();
assertEquals(interruptionBehavior, command.getInterruptionBehavior());
}
@ValueSource(booleans = {true, false})
@ParameterizedTest
void runWhenDisabled(boolean runsWhenDisabled) {
var command = new WaitUntilCommand(() -> false).ignoringDisable(runsWhenDisabled).repeatedly();
assertEquals(runsWhenDisabled, command.runsWhenDisabled());
}
}

2
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
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@@ -85,6 +85,8 @@ class TriggerTest extends CommandTestBase {
scheduler.run();
assertEquals(1, inits.get());
scheduler.run();
assertEquals(1, inits.get());
scheduler.run();
assertEquals(2, inits.get());
button.setPressed(false);
scheduler.run();