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[commands] Add Trigger.onChange() test (#6849)

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This commit is contained in:
Wispy
2024-07-27 18:29:22 -05:00
committed by GitHub
parent e83a432731
commit 5a1417aeb9
2 changed files with 50 additions and 0 deletions
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26
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
View File

@@ -62,6 +62,32 @@ class TriggerTest extends CommandTestBase {
assertFalse(command1.isScheduled());
}
@Test
void onChangeTest() {
CommandScheduler scheduler = CommandScheduler.getInstance();
AtomicBoolean finished = new AtomicBoolean(false);
Command command1 = new WaitUntilCommand(finished::get);
InternalButton button = new InternalButton();
button.setPressed(true);
button.onChange(command1);
scheduler.run();
assertFalse(command1.isScheduled());
button.setPressed(false);
scheduler.run();
assertTrue(command1.isScheduled());
finished.set(true);
scheduler.run();
assertFalse(command1.isScheduled());
finished.set(false);
button.setPressed(true);
scheduler.run();
assertTrue(command1.isScheduled());
finished.set(true);
scheduler.run();
assertFalse(command1.isScheduled());
}
@Test
void whileTrueRepeatedlyTest() {
CommandScheduler scheduler = CommandScheduler.getInstance();

24
wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp
View File

@@ -52,6 +52,30 @@ TEST_F(TriggerTest, OnFalse) {
EXPECT_FALSE(scheduler.IsScheduled(&command));
}
TEST_F(TriggerTest, OnChange) {
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
bool pressed = true;
WaitUntilCommand command([&finished] { return finished; });
Trigger([&pressed] { return pressed; }).OnChange(&command);
scheduler.Run();
EXPECT_FALSE(command.IsScheduled());
pressed = false;
scheduler.Run();
EXPECT_TRUE(command.IsScheduled());
finished = true;
scheduler.Run();
EXPECT_FALSE(command.IsScheduled());
finished = false;
pressed = true;
scheduler.Run();
EXPECT_TRUE(command.IsScheduled());
finished = true;
scheduler.Run();
EXPECT_FALSE(command.IsScheduled());
}
TEST_F(TriggerTest, WhileTrueRepeatedly) {
auto& scheduler = CommandScheduler::GetInstance();
int inits = 0;