Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[cmd3] Fix StateMachineTest (#8876)

Browse Source
This commit is contained in:
Ryan Blue
2026-05-08 00:42:16 -04:00
committed by GitHub
parent 1021ff88a9
commit 878da3d54c
2 changed files with 43 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

88
commandsv3/src/test/java/org/wpilib/command3/StateMachineTest.java
View File

@@ -115,8 +115,8 @@ class StateMachineTest extends CommandTestBase {
@Test
void transitionsIfConditionIsAlreadyTrueWhenEntered() {
var command1 = Command.noRequirements().executing(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command1 = Command.noRequirements(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
var signal = new AtomicBoolean(false);
var stateMachine = new StateMachine("State Machine");
@@ -137,9 +137,8 @@ class StateMachineTest extends CommandTestBase {
void commandExits() {
AtomicBoolean signal = new AtomicBoolean(false);
var command1 =
Command.noRequirements().executing(co -> co.waitUntil(signal::get)).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command1 = Command.noRequirements(co -> co.waitUntil(signal::get)).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -168,8 +167,7 @@ class StateMachineTest extends CommandTestBase {
AtomicInteger initCount = new AtomicInteger(0);
var command =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
initCount.incrementAndGet();
co.park();
@@ -213,7 +211,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void oneshotCommandTransitionsToSelfOnComplete() {
AtomicInteger count = new AtomicInteger(0);
var command = Command.noRequirements().executing(c -> count.incrementAndGet()).named("Command");
var command = Command.noRequirements(c -> count.incrementAndGet()).named("Command");
var stateMachine = new StateMachine("State Machine");
var state = stateMachine.addState(command);
stateMachine.setInitialState(state);
@@ -229,9 +227,9 @@ class StateMachineTest extends CommandTestBase {
void onlyFirstExplicitTransitionFires() {
var signal = new AtomicBoolean(false);
var command1 = Command.noRequirements().executing(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements().executing(Coroutine::park).named("Command 3");
var command1 = Command.noRequirements(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements(Coroutine::park).named("Command 3");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -253,9 +251,9 @@ class StateMachineTest extends CommandTestBase {
@Test
void onlyLastWhenCompleteTransitionFires() {
var command1 = Command.noRequirements().executing(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::yield).named("Command 2");
var command3 = Command.noRequirements().executing(Coroutine::yield).named("Command 3");
var command1 = Command.noRequirements(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements(Coroutine::yield).named("Command 2");
var command3 = Command.noRequirements(Coroutine::yield).named("Command 3");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -278,9 +276,9 @@ class StateMachineTest extends CommandTestBase {
void whenCompleteAndTakesPriorityOverWhenCompleteIfCalledLast() {
var signal = new AtomicBoolean(false);
var command1 = Command.noRequirements().executing(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::yield).named("Command 2");
var command3 = Command.noRequirements().executing(Coroutine::yield).named("Command 3");
var command1 = Command.noRequirements(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements(Coroutine::yield).named("Command 2");
var command3 = Command.noRequirements(Coroutine::yield).named("Command 3");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -306,9 +304,9 @@ class StateMachineTest extends CommandTestBase {
void whenCompleteAndTakesPriorityOverWhenCompleteIfCalleFirst() {
var signal = new AtomicBoolean(false);
var command1 = Command.noRequirements().executing(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::yield).named("Command 2");
var command3 = Command.noRequirements().executing(Coroutine::yield).named("Command 3");
var command1 = Command.noRequirements(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements(Coroutine::yield).named("Command 2");
var command3 = Command.noRequirements(Coroutine::yield).named("Command 3");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -333,8 +331,8 @@ class StateMachineTest extends CommandTestBase {
@Test
void composingComplete() {
AtomicBoolean signal = new AtomicBoolean(false);
var command1 = Command.noRequirements().executing(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command1 = Command.noRequirements(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -372,9 +370,9 @@ class StateMachineTest extends CommandTestBase {
@Test
void switchFromAny() {
var command1 = Command.noRequirements().executing(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements().executing(Coroutine::park).named("Command 3");
var command1 = Command.noRequirements(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements(Coroutine::park).named("Command 3");
AtomicBoolean signal = new AtomicBoolean(false);
@@ -430,15 +428,14 @@ class StateMachineTest extends CommandTestBase {
AtomicInteger count = new AtomicInteger(0);
var command1 =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
count.incrementAndGet();
co.yield();
})
.named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements().executing(Coroutine::park).named("Command 3");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements(Coroutine::park).named("Command 3");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -471,8 +468,7 @@ class StateMachineTest extends CommandTestBase {
void switchToSupplierWithCondition() {
AtomicInteger count = new AtomicInteger(0);
var command1 =
Command.noRequirements()
.executing(
Command.noRequirements(
co -> {
while (true) {
// Increment after yielding. Otherwise, the condition is checked and the state
@@ -483,8 +479,8 @@ class StateMachineTest extends CommandTestBase {
}
})
.named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements().executing(Coroutine::park).named("Command 3");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
var command3 = Command.noRequirements(Coroutine::park).named("Command 3");
var stateMachine = new StateMachine("State Machine");
var state1 = stateMachine.addState(command1);
@@ -512,8 +508,8 @@ class StateMachineTest extends CommandTestBase {
@Test
void runsOnEnterForInitialState() {
var command1 = Command.noRequirements().executing(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command1 = Command.noRequirements(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
AtomicInteger enterCount = new AtomicInteger(0);
var stateMachine = new StateMachine("State Machine");
@@ -530,8 +526,8 @@ class StateMachineTest extends CommandTestBase {
@Test
void runsOnExitOnTransition() {
var command1 = Command.noRequirements().executing(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command1 = Command.noRequirements(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
AtomicInteger exitCount = new AtomicInteger(0);
AtomicBoolean signal = new AtomicBoolean(false);
@@ -553,7 +549,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void runsOnExitWhenComplete() {
var command1 = Command.noRequirements().executing(co -> {}).named("Command 1");
var command1 = Command.noRequirements(co -> {}).named("Command 1");
AtomicInteger exitCount = new AtomicInteger(0);
var stateMachine = new StateMachine("State Machine");
@@ -572,7 +568,7 @@ class StateMachineTest extends CommandTestBase {
var mech = new Mechanism("Mechanism", m_scheduler);
var mainMechCommand = mech.run(Coroutine::park).named("Main Mech Command");
var backgroundMechCommand = mech.run(Coroutine::park).named("Background Mech Command");
var nextStateCommand = Command.noRequirements().executing(Coroutine::park).named("Next");
var nextStateCommand = Command.noRequirements(Coroutine::park).named("Next");
AtomicBoolean signal = new AtomicBoolean(false);
var stateMachine = new StateMachine("State Machine");
@@ -598,7 +594,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void runsOnEnterCallbacksInInsertionOrder() {
var command1 = Command.noRequirements().executing(co -> {}).named("Command 1");
var command1 = Command.noRequirements(co -> {}).named("Command 1");
List<String> callbackInfo = new ArrayList<>();
var stateMachine = new StateMachine("State Machine");
@@ -616,7 +612,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void runsOnExitCallbacksInInsertionOrder() {
// Make the command immediately exit
var command1 = Command.noRequirements().executing(co -> {}).named("Command 1");
var command1 = Command.noRequirements(co -> {}).named("Command 1");
List<String> callbackInfo = new ArrayList<>();
var stateMachine = new StateMachine("State Machine");
@@ -633,7 +629,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void onEnterSeesNewCommand() {
var command1 = Command.noRequirements().executing(Coroutine::park).named("Command 1");
var command1 = Command.noRequirements(Coroutine::park).named("Command 1");
AtomicBoolean sawCommand1OnEnter = new AtomicBoolean(false);
var stateMachine = new StateMachine("State Machine");
@@ -648,8 +644,8 @@ class StateMachineTest extends CommandTestBase {
@Test
void onExitWithTransitionSeesExitedCommand() {
var command1 = Command.noRequirements().executing(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command1 = Command.noRequirements(Coroutine::park).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
AtomicBoolean sawCommand1OnExit = new AtomicBoolean(false);
AtomicBoolean signal = new AtomicBoolean(false);
@@ -673,8 +669,8 @@ class StateMachineTest extends CommandTestBase {
// command has finished.
@Test
void onExitWithCompleteCannotSeeExitedCommand() {
var command1 = Command.noRequirements().executing(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
var command1 = Command.noRequirements(Coroutine::yield).named("Command 1");
var command2 = Command.noRequirements(Coroutine::park).named("Command 2");
AtomicBoolean onExitCalled = new AtomicBoolean(false);
AtomicBoolean sawCommand1OnExit = new AtomicBoolean(false);

2
design-docs/commands-v3-state-machines.md
View File

@@ -54,7 +54,7 @@ public Command autoWithStateMachine() {
```java
Command autoWithCoroutines() {
return Command.noRequirements().executing(coroutine -> {
return Command.noRequirements(coroutine -> {
// Automatically score while the robot is in scoring position.
// This will be canceled if the robot is bumped away from the scoring location.
atScoringLocation.whileTrue(