mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
Major formatting changes (breaks diffs). No code changes.
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
@@ -12,450 +12,427 @@
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#include "DriverStation.h"
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class CommandTest : public testing::Test {
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protected:
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virtual void SetUp() override {
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RobotState::SetImplementation(DriverStation::GetInstance());
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Scheduler::GetInstance()->SetEnabled(true);
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}
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protected:
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virtual void SetUp() override {
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RobotState::SetImplementation(DriverStation::GetInstance());
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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()->ResetAll();
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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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* 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
|
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* 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
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* is called outside of the
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* scope of the test.
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*/
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void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); }
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void AssertCommandState(MockCommand &command, int initialize, int execute,
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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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class ASubsystem : public Subsystem {
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private:
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Command *m_command;
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virtual void InitDefaultCommand() override {
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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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public:
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ASubsystem(const char *name) : Subsystem(name) { m_command = NULL; }
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void Init(Command *command){
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m_command = command;
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}
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virtual void InitDefaultCommand() override {
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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) { m_command = command; }
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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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// 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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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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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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TeardownScheduler();
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}
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//END CommandParallelGroupTest
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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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// 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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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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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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TeardownScheduler();
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}
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//END CommandScheduleTest
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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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// 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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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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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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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, 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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|
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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();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 1, 1, 0, 0);
|
||||
AssertCommandState(command3, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 1, 1, 0, 0);
|
||||
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);
|
||||
AssertCommandState(command3, 0, 0, 0, 0, 0);
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Wait(2); // command 2 timeout
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||||
|
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Scheduler::GetInstance()->Run();
|
||||
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);
|
||||
Wait(2);//command 2 timeout
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 1, 1, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 1 ,1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 2, 2, 0, 0);
|
||||
command3.SetHasFinished(true);
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 2, 2, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 3, 3, 1, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 2, 2, 0, 0);
|
||||
command3.SetHasFinished(true);
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 2, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 3, 3, 1, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 3, 3, 1, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 1);
|
||||
AssertCommandState(command3, 1, 3, 3, 1, 0);
|
||||
|
||||
|
||||
TeardownScheduler();
|
||||
TeardownScheduler();
|
||||
}
|
||||
//END CommandSequentialGroupTest
|
||||
// END CommandSequentialGroupTest
|
||||
|
||||
// CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
|
||||
TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies) {
|
||||
ASubsystem *subsystem = new ASubsystem("Command Superseding Test Subsystem");
|
||||
MockCommand command1;
|
||||
command1.Requires(subsystem);
|
||||
MockCommand command2;
|
||||
command2.Requires(subsystem);
|
||||
|
||||
//CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
|
||||
TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies){
|
||||
ASubsystem* subsystem = new ASubsystem("Command Superseding Test Subsystem");
|
||||
MockCommand command1;
|
||||
command1.Requires(subsystem);
|
||||
MockCommand command2;
|
||||
command2.Requires(subsystem);
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
command1.Start();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
command1.Start();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
command2.Start();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
command2.Start();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 1, 1, 1, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 1, 3, 3, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 1, 2, 2, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 1);
|
||||
AssertCommandState(command2, 1, 3, 3, 0, 0);
|
||||
|
||||
|
||||
TeardownScheduler();
|
||||
TeardownScheduler();
|
||||
}
|
||||
|
||||
TEST_F(CommandTest,
|
||||
OneCommandFailingSupersedingBecauseFirstCanNotBeInterrupted) {
|
||||
ASubsystem subsystem("Command Superseding Test Subsystem");
|
||||
MockCommand command1;
|
||||
|
||||
TEST_F(CommandTest, OneCommandFailingSupersedingBecauseFirstCanNotBeInterrupted){
|
||||
command1.Requires(&subsystem);
|
||||
|
||||
ASubsystem subsystem("Command Superseding Test Subsystem");
|
||||
MockCommand command1;
|
||||
command1.SetInterruptible(false);
|
||||
MockCommand command2;
|
||||
command2.Requires(&subsystem);
|
||||
|
||||
command1.Requires(&subsystem);
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
command1.SetInterruptible(false);
|
||||
MockCommand command2;
|
||||
command2.Requires(&subsystem);
|
||||
command1.Start();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
command1.Start();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 0, 0, 0, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 1, 1, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
command2.Start();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
command2.Start();
|
||||
AssertCommandState(command1, 1, 3, 3, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command1, 1, 4, 4, 0, 0);
|
||||
AssertCommandState(command2, 0, 0, 0, 0, 0);
|
||||
|
||||
TeardownScheduler();
|
||||
TeardownScheduler();
|
||||
}
|
||||
|
||||
//END CommandSequentialGroupTest
|
||||
// END CommandSequentialGroupTest
|
||||
|
||||
class ModifiedMockCommand : public MockCommand{
|
||||
public:
|
||||
ModifiedMockCommand():
|
||||
MockCommand()
|
||||
{
|
||||
SetTimeout(2.0);
|
||||
}
|
||||
bool IsFinished() override {
|
||||
return MockCommand::IsFinished() || IsTimedOut();
|
||||
}
|
||||
class ModifiedMockCommand : public MockCommand {
|
||||
public:
|
||||
ModifiedMockCommand() : MockCommand() { SetTimeout(2.0); }
|
||||
bool IsFinished() override {
|
||||
return MockCommand::IsFinished() || IsTimedOut();
|
||||
}
|
||||
};
|
||||
|
||||
TEST_F(CommandTest, TwoSecondTimeout) {
|
||||
ASubsystem subsystem("Two Second Timeout Test Subsystem");
|
||||
ModifiedMockCommand command;
|
||||
command.Requires(&subsystem);
|
||||
|
||||
TEST_F(CommandTest, TwoSecondTimeout){
|
||||
ASubsystem subsystem("Two Second Timeout Test Subsystem");
|
||||
ModifiedMockCommand command;
|
||||
command.Requires(&subsystem);
|
||||
command.Start();
|
||||
AssertCommandState(command, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 2, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 3, 3, 0, 0);
|
||||
Wait(2);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 4, 4, 1, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 4, 4, 1, 0);
|
||||
|
||||
command.Start();
|
||||
AssertCommandState(command, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 2, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 3, 3, 0, 0);
|
||||
Wait(2);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 4, 4, 1, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(command, 1, 4, 4, 1, 0);
|
||||
|
||||
TeardownScheduler();
|
||||
TeardownScheduler();
|
||||
}
|
||||
|
||||
TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself) {
|
||||
ASubsystem subsystem("Default Command Test Subsystem");
|
||||
MockCommand defaultCommand;
|
||||
defaultCommand.Requires(&subsystem);
|
||||
MockCommand anotherCommand;
|
||||
anotherCommand.Requires(&subsystem);
|
||||
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
subsystem.Init(&defaultCommand);
|
||||
|
||||
TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself){
|
||||
ASubsystem subsystem("Default Command Test Subsystem");
|
||||
MockCommand defaultCommand;
|
||||
defaultCommand.Requires(&subsystem);
|
||||
MockCommand anotherCommand;
|
||||
anotherCommand.Requires(&subsystem);
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
subsystem.Init(&defaultCommand);
|
||||
anotherCommand.Start();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
anotherCommand.SetHasFinished(true);
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
|
||||
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
|
||||
anotherCommand.Start();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
anotherCommand.SetHasFinished(true);
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
|
||||
|
||||
TeardownScheduler();
|
||||
TeardownScheduler();
|
||||
}
|
||||
|
||||
TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled) {
|
||||
ASubsystem subsystem("Default Command Test Subsystem");
|
||||
MockCommand defaultCommand;
|
||||
defaultCommand.Requires(&subsystem);
|
||||
MockCommand anotherCommand;
|
||||
anotherCommand.Requires(&subsystem);
|
||||
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
subsystem.Init(&defaultCommand);
|
||||
subsystem.InitDefaultCommand();
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
|
||||
TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled){
|
||||
ASubsystem subsystem("Default Command Test Subsystem");
|
||||
MockCommand defaultCommand;
|
||||
defaultCommand.Requires(&subsystem);
|
||||
MockCommand anotherCommand;
|
||||
anotherCommand.Requires(&subsystem);
|
||||
anotherCommand.Start();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
anotherCommand.Cancel();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
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);
|
||||
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
subsystem.Init(&defaultCommand);
|
||||
subsystem.InitDefaultCommand();
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
|
||||
anotherCommand.Start();
|
||||
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
anotherCommand.Cancel();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
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();
|
||||
TeardownScheduler();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user