[commands] Refactor ProxyScheduleCommand, SelectCommand into ProxyCommand (#4534)

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

@@ -0,0 +1,80 @@
+// 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 <memory>
+
+#include "CommandTestBase.h"
+#include "frc2/command/CommandPtr.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ProxyCommand.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class ProxyCommandTest : public CommandTestBase {};
+
+TEST_F(ProxyCommandTest, NonOwningCommandSchedule) {
+  CommandScheduler& scheduler = CommandScheduler::GetInstance();
+
+  bool scheduled = false;
+
+  InstantCommand toSchedule([&scheduled] { scheduled = true; }, {});
+
+  ProxyCommand command(&toSchedule);
+
+  scheduler.Schedule(&command);
+  scheduler.Run();
+
+  EXPECT_TRUE(scheduled);
+}
+
+TEST_F(ProxyCommandTest, NonOwningCommandEnd) {
+  CommandScheduler& scheduler = CommandScheduler::GetInstance();
+
+  bool finished = false;
+
+  WaitUntilCommand toSchedule([&finished] { return finished; });
+
+  ProxyCommand command(&toSchedule);
+
+  scheduler.Schedule(&command);
+  scheduler.Run();
+
+  EXPECT_TRUE(scheduler.IsScheduled(&command));
+  finished = true;
+  scheduler.Run();
+  scheduler.Run();
+  EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ProxyCommandTest, OwningCommandSchedule) {
+  CommandScheduler& scheduler = CommandScheduler::GetInstance();
+
+  bool scheduled = false;
+
+  CommandPtr command =
+      InstantCommand([&scheduled] { scheduled = true; }).AsProxy();
+
+  scheduler.Schedule(command);
+  scheduler.Run();
+
+  EXPECT_TRUE(scheduled);
+}
+
+TEST_F(ProxyCommandTest, OwningCommandEnd) {
+  CommandScheduler& scheduler = CommandScheduler::GetInstance();
+
+  bool finished = false;
+
+  CommandPtr command =
+      WaitUntilCommand([&finished] { return finished; }).AsProxy();
+
+  scheduler.Schedule(command);
+  scheduler.Run();
+
+  EXPECT_TRUE(scheduler.IsScheduled(command));
+  finished = true;
+  scheduler.Run();
+  scheduler.Run();
+  EXPECT_FALSE(scheduler.IsScheduled(command));
+}