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https://github.com/wpilibsuite/allwpilib
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Adds CommandTests to the C++ Integration Test Suite
Also adds/updates some comments in the Java Command Tests Change-Id: I24ae6cce06b8d5251e1cb115cd725f24a871635f
This commit is contained in:
Jonathan Leitschuh
458
wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
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458
wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
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@@ -0,0 +1,458 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "WPILib.h"
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#include "command/MockCommand.h"
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#include "gtest/gtest.h"
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class CommandTest : public testing::Test {
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protected:
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virtual void SetUp() {
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Scheduler::GetInstance()->SetEnabled(true);
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}
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/**
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* Tears Down the Scheduler at the end of each test.
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* Must be called at the end of each test inside each test in order to prevent them being deallocated
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* when they leave the scope of the test (causing a segfault).
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* This can not be done within the virtual void Teardown() method because it is called outside of the
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* scope of the test.
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*/
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void TeardownScheduler(){
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Scheduler::GetInstance()->RemoveAll();
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}
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void AssertCommandState(MockCommand &command, int initialize, int execute, int isFinished, int end, int interrupted){
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EXPECT_EQ(initialize, command.GetInitializeCount());
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EXPECT_EQ(execute, command.GetExecuteCount());
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EXPECT_EQ(isFinished, command.GetIsFinishedCount());
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EXPECT_EQ(end, command.GetEndCount());
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EXPECT_EQ(interrupted, command.GetInterruptedCount());
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}
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};
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class ASubsystem : public Subsystem{
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private:
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Command *m_command;
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public:
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ASubsystem(const char *name):
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Subsystem(name)
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{
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m_command = NULL;
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}
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virtual void InitDefaultCommand(){
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if(m_command != NULL){
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SetDefaultCommand(m_command);
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}
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}
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void Init(Command *command){
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m_command = command;
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}
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};
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//CommandParallelGroupTest ported from CommandParallelGroupTest.java
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TEST_F(CommandTest, ParallelCommands){
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MockCommand command1;
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MockCommand command2;
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CommandGroup commandGroup;
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commandGroup.AddParallel(&command1);
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commandGroup.AddParallel(&command2);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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commandGroup.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 2, 2, 0, 0);
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AssertCommandState(command2, 1, 2, 2, 0, 0);
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command1.SetHasFinished(true);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 1, 0);
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AssertCommandState(command2, 1, 3, 3, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 1, 0);
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AssertCommandState(command2, 1, 4, 4, 0, 0);
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command2.SetHasFinished(true);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 1, 0);
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AssertCommandState(command2, 1, 5, 5, 1, 0);
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TeardownScheduler();
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}
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//END CommandParallelGroupTest
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//CommandScheduleTest ported from CommandScheduleTest.java
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TEST_F(CommandTest, RunAndTerminate){
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MockCommand command;
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command.Start();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 2, 2, 0, 0);
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command.SetHasFinished(true);
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AssertCommandState(command, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 1, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest, RunAndCancel){
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MockCommand command;
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command.Start();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 0);
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command.Cancel();
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AssertCommandState(command, 1, 3, 3, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 1);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 1);
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TeardownScheduler();
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}
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//END CommandScheduleTest
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//CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
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TEST_F(CommandTest, ThreeCommandOnSubSystem){
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ASubsystem subsystem("Three Command Test Subsystem");
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MockCommand command1;
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command1.Requires(&subsystem);
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MockCommand command2;
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command2.Requires(&subsystem);
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MockCommand command3;
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command3.Requires(&subsystem);
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CommandGroup commandGroup;
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commandGroup.AddSequential(&command1, 1.0 );
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commandGroup.AddSequential(&command2, 2.0 );
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commandGroup.AddSequential(&command3);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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commandGroup.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Wait(1);//command 1 timeout
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 1, 1, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Wait(2);//command 2 timeout
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 1 ,1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 2, 2, 0, 0);
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command3.SetHasFinished(true);
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 3, 3, 1, 0);
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TeardownScheduler();
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}
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//END CommandSequentialGroupTest
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//CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
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TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies){
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ASubsystem subsystem("Command Superseding Test Subsystem");
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MockCommand command1;
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command1.Requires(&subsystem);
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MockCommand command2;
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command2.Requires(&subsystem);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command1.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 2, 2, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command2.Start();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 1, 3, 3, 0, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest, OneCommandFailingSupersedingBecauseFirstCanNotBeInterrupted){
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ASubsystem subsystem("Command Superseding Test Subsystem");
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MockCommand command1;
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command1.Requires(&subsystem);
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command1.SetInterruptible(false);
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MockCommand command2;
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command2.Requires(&subsystem);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command1.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 2, 2, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command2.Start();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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TeardownScheduler();
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}
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//END CommandSequentialGroupTest
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class ModifiedMockCommand : public MockCommand{
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public:
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ModifiedMockCommand():
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MockCommand()
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{
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SetTimeout(2.0);
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}
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bool IsFinished(){
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return MockCommand::IsFinished() || IsTimedOut();
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}
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};
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TEST_F(CommandTest, TwoSecondTimeout){
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ASubsystem subsystem("Two Second Timeout Test Subsystem");
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ModifiedMockCommand command;
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command.Requires(&subsystem);
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command.Start();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 0);
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Wait(2);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 4, 4, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 4, 4, 1, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself){
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ASubsystem subsystem("Default Command Test Subsystem");
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MockCommand defaultCommand;
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defaultCommand.Requires(&subsystem);
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MockCommand anotherCommand;
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anotherCommand.Requires(&subsystem);
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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subsystem.Init(&defaultCommand);
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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anotherCommand.Start();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
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anotherCommand.SetHasFinished(true);
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
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AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
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AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled){
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ASubsystem subsystem("Default Command Test Subsystem");
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MockCommand defaultCommand;
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defaultCommand.Requires(&subsystem);
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MockCommand anotherCommand;
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anotherCommand.Requires(&subsystem);
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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subsystem.Init(&defaultCommand);
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subsystem.InitDefaultCommand();
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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anotherCommand.Start();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
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anotherCommand.Cancel();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
|
||||
|
||||
TeardownScheduler();
|
||||
}
|
||||
Reference in New Issue
Block a user