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[commands] C++ unique_ptr migration (#4319)

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Add a CommandPtr with an internal unique_ptr to enable not needing to move the underlying classes, which is error-prone due to the potential for lambda captures.
This commit is contained in:
Starlight220
2022-10-06 01:19:28 +03:00
committed by GitHub
parent 3b81cf6c35
commit 60e29627c0
18 changed files with 644 additions and 133 deletions
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32
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
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@@ -23,15 +23,15 @@ TEST_F(CommandDecoratorTest, WithTimeout) {
auto command = RunCommand([] {}, {}).WithTimeout(100_ms);
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
EXPECT_TRUE(scheduler.IsScheduled(command));
frc::sim::StepTiming(150_ms);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
EXPECT_FALSE(scheduler.IsScheduled(command));
frc::sim::ResumeTiming();
}
@@ -43,15 +43,15 @@ TEST_F(CommandDecoratorTest, Until) {
auto command = RunCommand([] {}, {}).Until([&finished] { return finished; });
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
EXPECT_TRUE(scheduler.IsScheduled(command));
finished = true;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
EXPECT_FALSE(scheduler.IsScheduled(command));
}
TEST_F(CommandDecoratorTest, IgnoringDisable) {
@@ -61,10 +61,10 @@ TEST_F(CommandDecoratorTest, IgnoringDisable) {
SetDSEnabled(false);
scheduler.Schedule(command.get());
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(command.get()));
EXPECT_TRUE(scheduler.IsScheduled(command));
}
TEST_F(CommandDecoratorTest, BeforeStarting) {
@@ -75,14 +75,14 @@ TEST_F(CommandDecoratorTest, BeforeStarting) {
auto command = InstantCommand([] {}, {}).BeforeStarting(
[&finished] { finished = true; });
scheduler.Schedule(&command);
scheduler.Schedule(command);
EXPECT_TRUE(finished);
scheduler.Run();
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
EXPECT_FALSE(scheduler.IsScheduled(command));
}
TEST_F(CommandDecoratorTest, AndThen) {
@@ -93,14 +93,14 @@ TEST_F(CommandDecoratorTest, AndThen) {
auto command =
InstantCommand([] {}, {}).AndThen([&finished] { finished = true; });
scheduler.Schedule(&command);
scheduler.Schedule(command);
EXPECT_FALSE(finished);
scheduler.Run();
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
EXPECT_FALSE(scheduler.IsScheduled(command));
EXPECT_TRUE(finished);
}
@@ -124,12 +124,12 @@ TEST_F(CommandDecoratorTest, Endlessly) {
auto command = InstantCommand([] {}, {}).Endlessly();
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
EXPECT_TRUE(scheduler.IsScheduled(command));
}
TEST_F(CommandDecoratorTest, Unless) {
@@ -143,12 +143,12 @@ TEST_F(CommandDecoratorTest, Unless) {
return unlessBool;
});
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
EXPECT_FALSE(hasRun);
unlessBool = false;
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(hasRun);
}

8
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
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@@ -54,7 +54,7 @@ TEST_F(CommandRequirementsTest, RequirementUninterruptible) {
int exeCounter = 0;
int endCounter = 0;
std::unique_ptr<Command> command1 =
CommandPtr command1 =
FunctionalCommand([&initCounter] { initCounter++; },
[&exeCounter] { exeCounter++; },
[&endCounter](bool interruptible) { endCounter++; },
@@ -68,13 +68,13 @@ TEST_F(CommandRequirementsTest, RequirementUninterruptible) {
EXPECT_CALL(command2, End(true)).Times(0);
EXPECT_CALL(command2, End(false)).Times(0);
scheduler.Schedule(command1.get());
scheduler.Schedule(command1);
EXPECT_EQ(1, initCounter);
scheduler.Run();
EXPECT_EQ(1, exeCounter);
EXPECT_TRUE(scheduler.IsScheduled(command1.get()));
EXPECT_TRUE(scheduler.IsScheduled(command1));
scheduler.Schedule(&command2);
EXPECT_TRUE(scheduler.IsScheduled(command1.get()));
EXPECT_TRUE(scheduler.IsScheduled(command1));
EXPECT_FALSE(scheduler.IsScheduled(&command2));
scheduler.Run();
EXPECT_EQ(2, exeCounter);

7
wpilibNewCommands/src/test/native/cpp/frc2/command/EndlessCommandTest.cpp
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@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include "CommandTestBase.h"
#include "frc2/command/EndlessCommand.h"
#include "frc2/command/InstantCommand.h"
using namespace frc2;
@@ -14,10 +13,10 @@ TEST_F(EndlessCommandTest, EndlessCommandSchedule) {
bool check = false;
EndlessCommand command{InstantCommand([&check] { check = true; }, {})};
auto command = InstantCommand([&check] { check = true; }, {}).Endlessly();
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
EXPECT_TRUE(scheduler.IsScheduled(command));
EXPECT_TRUE(check);
}

17
wpilibNewCommands/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp
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@@ -5,6 +5,7 @@
#include <memory>
#include "CommandTestBase.h"
#include "frc2/command/CommandPtr.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/ProxyScheduleCommand.h"
#include "frc2/command/WaitUntilCommand.h"
@@ -51,10 +52,10 @@ TEST_F(ProxyScheduleCommandTest, OwningCommandSchedule) {
bool scheduled = false;
ProxyScheduleCommand command(
std::make_unique<InstantCommand>([&scheduled] { scheduled = true; }));
CommandPtr command =
InstantCommand([&scheduled] { scheduled = true; }).AsProxy();
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(scheduled);
@@ -65,15 +66,15 @@ TEST_F(ProxyScheduleCommandTest, OwningCommandEnd) {
bool finished = false;
ProxyScheduleCommand command(
std::make_unique<WaitUntilCommand>([&finished] { return finished; }));
CommandPtr command =
WaitUntilCommand([&finished] { return finished; }).AsProxy();
scheduler.Schedule(&command);
scheduler.Schedule(command);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
EXPECT_TRUE(scheduler.IsScheduled(command));
finished = true;
scheduler.Run();
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
EXPECT_FALSE(scheduler.IsScheduled(command));
}

3
wpilibNewCommands/src/test/native/cpp/frc2/command/RepeatCommandTest.cpp
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@@ -4,7 +4,6 @@
#include "CommandTestBase.h"
#include "frc2/command/FunctionalCommand.h"
#include "frc2/command/RepeatCommand.h"
using namespace frc2;
class RepeatCommandTest : public CommandTestBase {};
@@ -33,7 +32,7 @@ TEST_F(RepeatCommandTest, CallsMethodsCorrectly) {
EXPECT_EQ(0, isFinishedCounter);
EXPECT_EQ(0, endCounter);
scheduler.Schedule(&command);
scheduler.Schedule(command);
EXPECT_EQ(1, initCounter);
EXPECT_EQ(0, exeCounter);
EXPECT_EQ(0, isFinishedCounter);