[commands] Add C++ Requirements struct (#5504)

wpilibNewCommands/src/test/native/cpp/frc2/command/AddRequirementsTest.cpp

@@ -0,0 +1,144 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <wpi/array.h>
+
+#include "CommandTestBase.h"
+#include "frc2/command/Command.h"
+#include "frc2/command/RunCommand.h"
+
+using namespace frc2;
+
+// Class to verify the overload resolution of Command::AddRequirements. This
+// does not derive from Command because AddRequirements is non-virtual,
+// preventing overriding anyways.
+class MockAddRequirements {
+ public:
+  MOCK_METHOD(void, AddRequirements, (Requirements), ());
+  MOCK_METHOD(void, AddRequirements, ((wpi::SmallSet<Subsystem*, 4>)), ());
+  MOCK_METHOD(void, AddRequirements, (Subsystem*), ());
+};
+
+TEST(AddRequirementsTest, InitializerListOverloadResolution) {
+  TestSubsystem requirement;
+
+  MockAddRequirements overloadResolver;
+
+  EXPECT_CALL(overloadResolver, AddRequirements(testing::An<Requirements>()));
+
+  overloadResolver.AddRequirements({&requirement, &requirement});
+}
+
+TEST(AddRequirementsTest, SpanOverloadResolution) {
+  std::span<Subsystem* const> requirementsSpan;
+
+  MockAddRequirements overloadResolver;
+
+  EXPECT_CALL(overloadResolver, AddRequirements(testing::An<Requirements>()));
+
+  overloadResolver.AddRequirements(requirementsSpan);
+}
+
+TEST(AddRequirementsTest, SmallSetOverloadResolution) {
+  wpi::SmallSet<Subsystem*, 4> requirementsSet;
+
+  MockAddRequirements overloadResolver;
+
+  EXPECT_CALL(overloadResolver,
+              AddRequirements(testing::An<wpi::SmallSet<Subsystem*, 4>>()));
+
+  overloadResolver.AddRequirements(requirementsSet);
+}
+
+TEST(AddRequirementsTest, SubsystemOverloadResolution) {
+  TestSubsystem requirement;
+
+  MockAddRequirements overloadResolver;
+
+  EXPECT_CALL(overloadResolver, AddRequirements(testing::An<Subsystem*>()));
+
+  overloadResolver.AddRequirements(&requirement);
+}
+
+TEST(AddRequirementsTest, InitializerListSemantics) {
+  TestSubsystem requirement1;
+  TestSubsystem requirement2;
+
+  RunCommand command([] {});
+  command.AddRequirements({&requirement1, &requirement2});
+  EXPECT_TRUE(command.HasRequirement(&requirement1));
+  EXPECT_TRUE(command.HasRequirement(&requirement2));
+  EXPECT_EQ(command.GetRequirements().size(), 2u);
+}
+
+TEST(AddRequirementsTest, InitializerListDuplicatesSemantics) {
+  TestSubsystem requirement;
+
+  RunCommand command([] {});
+  command.AddRequirements({&requirement, &requirement});
+  EXPECT_TRUE(command.HasRequirement(&requirement));
+  EXPECT_EQ(command.GetRequirements().size(), 1u);
+}
+
+TEST(AddRequirementsTest, SpanSemantics) {
+  TestSubsystem requirement1;
+  TestSubsystem requirement2;
+
+  wpi::array<Subsystem* const, 2> requirementsArray(&requirement1,
+                                                    &requirement2);
+
+  RunCommand command([] {});
+  command.AddRequirements(std::span{requirementsArray});
+  EXPECT_TRUE(command.HasRequirement(&requirement1));
+  EXPECT_TRUE(command.HasRequirement(&requirement2));
+  EXPECT_EQ(command.GetRequirements().size(), 2u);
+}
+
+TEST(AddRequirementsTest, SpanDuplicatesSemantics) {
+  TestSubsystem requirement;
+
+  wpi::array<Subsystem* const, 2> requirementsArray(&requirement, &requirement);
+
+  RunCommand command([] {});
+  command.AddRequirements(std::span{requirementsArray});
+  EXPECT_TRUE(command.HasRequirement(&requirement));
+  EXPECT_EQ(command.GetRequirements().size(), 1u);
+}
+
+TEST(AddRequirementsTest, SmallSetSemantics) {
+  TestSubsystem requirement1;
+  TestSubsystem requirement2;
+
+  wpi::SmallSet<Subsystem*, 4> requirementsSet;
+  requirementsSet.insert(&requirement1);
+  requirementsSet.insert(&requirement2);
+
+  RunCommand command([] {});
+  command.AddRequirements(requirementsSet);
+  EXPECT_TRUE(command.HasRequirement(&requirement1));
+  EXPECT_TRUE(command.HasRequirement(&requirement2));
+  EXPECT_EQ(command.GetRequirements().size(), 2u);
+}
+
+TEST(AddRequirementsTest, SubsystemPointerSemantics) {
+  TestSubsystem requirement1;
+  TestSubsystem requirement2;
+
+  RunCommand command([] {});
+  command.AddRequirements(&requirement1);
+  command.AddRequirements(&requirement2);
+  EXPECT_TRUE(command.HasRequirement(&requirement1));
+  EXPECT_TRUE(command.HasRequirement(&requirement2));
+  EXPECT_EQ(command.GetRequirements().size(), 2u);
+}
+
+TEST(AddRequirementsTest, SubsystemPointerDuplicatesSemantics) {
+  TestSubsystem requirement;
+
+  RunCommand command([] {});
+  command.AddRequirements(&requirement);
+  command.AddRequirements(&requirement);
+  EXPECT_TRUE(command.HasRequirement(&requirement));
+  EXPECT_EQ(command.GetRequirements().size(), 1u);
+}