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[commands] Add missing C++ decorators (#6599)

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This commit is contained in:
Joseph Eng
2024-05-24 13:14:15 -07:00
committed by GitHub
parent 237ebfd0f2
commit 5c5e5af0c6
4 changed files with 235 additions and 65 deletions
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102
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
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@@ -22,17 +22,14 @@ class CommandDecoratorTest extends CommandTestBase {
HAL.initialize(500, 0);
SimHooks.pauseTiming();
try (CommandScheduler scheduler = new CommandScheduler()) {
Command command1 = new WaitCommand(10);
Command timeout = command1.withTimeout(2);
Command timeout = new RunCommand(() -> {}).withTimeout(0.1);
scheduler.schedule(timeout);
scheduler.run();
assertFalse(scheduler.isScheduled(command1));
assertTrue(scheduler.isScheduled(timeout));
SimHooks.stepTiming(3);
SimHooks.stepTiming(0.15);
scheduler.run();
assertFalse(scheduler.isScheduled(timeout));
@@ -44,15 +41,18 @@ class CommandDecoratorTest extends CommandTestBase {
@Test
void untilTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean condition = new AtomicBoolean();
AtomicBoolean finish = new AtomicBoolean();
Command command = new WaitCommand(10).until(condition::get);
Command command = new RunCommand(() -> {}).until(finish::get);
scheduler.schedule(command);
scheduler.run();
assertTrue(scheduler.isScheduled(command));
condition.set(true);
finish.set(true);
scheduler.run();
assertFalse(scheduler.isScheduled(command));
}
}
@@ -60,15 +60,18 @@ class CommandDecoratorTest extends CommandTestBase {
@Test
void onlyWhileTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean condition = new AtomicBoolean(true);
AtomicBoolean run = new AtomicBoolean(true);
Command command = new WaitCommand(10).onlyWhile(condition::get);
Command command = new RunCommand(() -> {}).onlyWhile(run::get);
scheduler.schedule(command);
scheduler.run();
assertTrue(scheduler.isScheduled(command));
condition.set(false);
run.set(false);
scheduler.run();
assertFalse(scheduler.isScheduled(command));
}
}
@@ -90,61 +93,75 @@ class CommandDecoratorTest extends CommandTestBase {
@Test
void beforeStartingTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean condition = new AtomicBoolean();
condition.set(false);
AtomicBoolean finished = new AtomicBoolean();
finished.set(false);
Command command = new InstantCommand();
Command command = new InstantCommand().beforeStarting(() -> finished.set(true));
scheduler.schedule(command.beforeStarting(() -> condition.set(true)));
scheduler.schedule(command);
assertTrue(condition.get());
assertTrue(finished.get());
scheduler.run();
assertTrue(scheduler.isScheduled(command));
scheduler.run();
assertFalse(scheduler.isScheduled(command));
}
}
@Test
void andThenLambdaTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean condition = new AtomicBoolean();
condition.set(false);
AtomicBoolean finished = new AtomicBoolean(false);
Command command = new InstantCommand();
Command command = new InstantCommand().andThen(() -> finished.set(true));
scheduler.schedule(command.andThen(() -> condition.set(true)));
scheduler.schedule(command);
assertFalse(condition.get());
assertFalse(finished.get());
scheduler.run();
assertTrue(condition.get());
assertTrue(finished.get());
scheduler.run();
assertFalse(scheduler.isScheduled(command));
}
}
@Test
void andThenTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean condition = new AtomicBoolean();
condition.set(false);
AtomicBoolean condition = new AtomicBoolean(false);
Command command1 = new InstantCommand();
Command command2 = new InstantCommand(() -> condition.set(true));
Command group = command1.andThen(command2);
scheduler.schedule(command1.andThen(command2));
scheduler.schedule(group);
assertFalse(condition.get());
scheduler.run();
assertTrue(condition.get());
scheduler.run();
assertFalse(scheduler.isScheduled(group));
}
}
@Test
void deadlineWithTest() {
void deadlineForTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean condition = new AtomicBoolean();
condition.set(false);
AtomicBoolean finish = new AtomicBoolean(false);
Command dictator = new WaitUntilCommand(condition::get);
Command dictator = new WaitUntilCommand(finish::get);
Command endsBefore = new InstantCommand();
Command endsAfter = new WaitUntilCommand(() -> false);
@@ -155,7 +172,7 @@ class CommandDecoratorTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(group));
condition.set(true);
finish.set(true);
scheduler.run();
assertFalse(scheduler.isScheduled(group));
@@ -165,10 +182,9 @@ class CommandDecoratorTest extends CommandTestBase {
@Test
void alongWithTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean condition = new AtomicBoolean();
condition.set(false);
AtomicBoolean finish = new AtomicBoolean(false);
Command command1 = new WaitUntilCommand(condition::get);
Command command1 = new WaitUntilCommand(finish::get);
Command command2 = new InstantCommand();
Command group = command1.alongWith(command2);
@@ -178,7 +194,7 @@ class CommandDecoratorTest extends CommandTestBase {
assertTrue(scheduler.isScheduled(group));
condition.set(true);
finish.set(true);
scheduler.run();
assertFalse(scheduler.isScheduled(group));
@@ -203,40 +219,38 @@ class CommandDecoratorTest extends CommandTestBase {
@Test
void unlessTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean hasRun = new AtomicBoolean(false);
AtomicBoolean unlessCondition = new AtomicBoolean(true);
AtomicBoolean hasRunCondition = new AtomicBoolean(false);
Command command =
new InstantCommand(() -> hasRunCondition.set(true)).unless(unlessCondition::get);
Command command = new InstantCommand(() -> hasRun.set(true)).unless(unlessCondition::get);
scheduler.schedule(command);
scheduler.run();
assertFalse(hasRunCondition.get());
assertFalse(hasRun.get());
unlessCondition.set(false);
scheduler.schedule(command);
scheduler.run();
assertTrue(hasRunCondition.get());
assertTrue(hasRun.get());
}
}
@Test
void onlyIfTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean hasRun = new AtomicBoolean(false);
AtomicBoolean onlyIfCondition = new AtomicBoolean(false);
AtomicBoolean hasRunCondition = new AtomicBoolean(false);
Command command =
new InstantCommand(() -> hasRunCondition.set(true)).onlyIf(onlyIfCondition::get);
Command command = new InstantCommand(() -> hasRun.set(true)).onlyIf(onlyIfCondition::get);
scheduler.schedule(command);
scheduler.run();
assertFalse(hasRunCondition.get());
assertFalse(hasRun.get());
onlyIfCondition.set(true);
scheduler.schedule(command);
scheduler.run();
assertTrue(hasRunCondition.get());
assertTrue(hasRun.get());
}
}