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[commands] Add property tests for command compositions (#4715)

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This commit is contained in:
Starlight220
2022-11-28 02:23:56 +02:00
committed by GitHub
parent e4ac09077c
commit 8958b2a4da
31 changed files with 579 additions and 59 deletions
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9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
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@@ -19,6 +19,7 @@ public class ParallelCommandGroup extends CommandGroupBase {
// maps commands in this group to whether they are still running
private final Map<Command, Boolean> m_commands = new HashMap<>();
private boolean m_runWhenDisabled = true;
private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
/**
* Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The
@@ -50,6 +51,9 @@ public class ParallelCommandGroup extends CommandGroupBase {
m_commands.put(command, false);
m_requirements.addAll(command.getRequirements());
m_runWhenDisabled &= command.runsWhenDisabled();
if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
m_interruptBehavior = InterruptionBehavior.kCancelSelf;
}
}
}
@@ -95,4 +99,9 @@ public class ParallelCommandGroup extends CommandGroupBase {
public boolean runsWhenDisabled() {
return m_runWhenDisabled;
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
return m_interruptBehavior;
}
}

9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
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@@ -22,6 +22,7 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
private boolean m_runWhenDisabled = true;
private boolean m_finished = true;
private Command m_deadline;
private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
/**
* Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be
@@ -72,6 +73,9 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
m_commands.put(command, false);
m_requirements.addAll(command.getRequirements());
m_runWhenDisabled &= command.runsWhenDisabled();
if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
m_interruptBehavior = InterruptionBehavior.kCancelSelf;
}
}
}
@@ -119,4 +123,9 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
public boolean runsWhenDisabled() {
return m_runWhenDisabled;
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
return m_interruptBehavior;
}
}

9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
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@@ -20,6 +20,7 @@ public class ParallelRaceGroup extends CommandGroupBase {
private final Set<Command> m_commands = new HashSet<>();
private boolean m_runWhenDisabled = true;
private boolean m_finished = true;
private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
/**
* Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will
@@ -51,6 +52,9 @@ public class ParallelRaceGroup extends CommandGroupBase {
m_commands.add(command);
m_requirements.addAll(command.getRequirements());
m_runWhenDisabled &= command.runsWhenDisabled();
if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
m_interruptBehavior = InterruptionBehavior.kCancelSelf;
}
}
}
@@ -88,4 +92,9 @@ public class ParallelRaceGroup extends CommandGroupBase {
public boolean runsWhenDisabled() {
return m_runWhenDisabled;
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
return m_interruptBehavior;
}
}

25
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
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@@ -31,6 +31,8 @@ public class SelectCommand extends CommandBase {
private final Supplier<Object> m_selector;
private final Supplier<Command> m_toRun;
private Command m_selectedCommand;
private boolean m_runsWhenDisabled = true;
private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
/**
* Creates a new selectcommand.
@@ -50,6 +52,10 @@ public class SelectCommand extends CommandBase {
for (Command command : m_commands.values()) {
m_requirements.addAll(command.getRequirements());
m_runsWhenDisabled &= command.runsWhenDisabled();
if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
m_interruptBehavior = InterruptionBehavior.kCancelSelf;
}
}
}
@@ -62,6 +68,10 @@ public class SelectCommand extends CommandBase {
m_commands = null;
m_selector = null;
m_toRun = requireNonNullParam(toRun, "toRun", "SelectCommand");
// we have no way of checking the underlying command, so default.
m_runsWhenDisabled = false;
m_interruptBehavior = InterruptionBehavior.kCancelSelf;
}
@Override
@@ -97,14 +107,11 @@ public class SelectCommand extends CommandBase {
@Override
public boolean runsWhenDisabled() {
if (m_commands != null) {
boolean runsWhenDisabled = true;
for (Command command : m_commands.values()) {
runsWhenDisabled &= command.runsWhenDisabled();
}
return runsWhenDisabled;
} else {
return m_toRun.get().runsWhenDisabled();
}
return m_runsWhenDisabled;
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
return m_interruptBehavior;
}
}

9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
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@@ -18,6 +18,7 @@ public class SequentialCommandGroup extends CommandGroupBase {
private final List<Command> m_commands = new ArrayList<>();
private int m_currentCommandIndex = -1;
private boolean m_runWhenDisabled = true;
private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
/**
* Creates a new SequentialCommandGroup. The given commands will be run sequentially, with the
@@ -44,6 +45,9 @@ public class SequentialCommandGroup extends CommandGroupBase {
m_commands.add(command);
m_requirements.addAll(command.getRequirements());
m_runWhenDisabled &= command.runsWhenDisabled();
if (command.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
m_interruptBehavior = InterruptionBehavior.kCancelSelf;
}
}
}
@@ -94,4 +98,9 @@ public class SequentialCommandGroup extends CommandGroupBase {
public boolean runsWhenDisabled() {
return m_runWhenDisabled;
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
return m_interruptBehavior;
}
}

9
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
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@@ -56,6 +56,11 @@ bool ParallelCommandGroup::RunsWhenDisabled() const {
return m_runWhenDisabled;
}
Command::InterruptionBehavior ParallelCommandGroup::GetInterruptionBehavior()
const {
return m_interruptBehavior;
}
void ParallelCommandGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
for (auto&& command : commands) {
@@ -75,6 +80,10 @@ void ParallelCommandGroup::AddCommands(
command->SetGrouped(true);
AddRequirements(command->GetRequirements());
m_runWhenDisabled &= command->RunsWhenDisabled();
if (command->GetInterruptionBehavior() ==
Command::InterruptionBehavior::kCancelSelf) {
m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
}
m_commands.emplace_back(std::move(command), false);
} else {
throw FRC_MakeError(frc::err::CommandIllegalUse,

9
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
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@@ -53,6 +53,11 @@ bool ParallelDeadlineGroup::RunsWhenDisabled() const {
return m_runWhenDisabled;
}
Command::InterruptionBehavior ParallelDeadlineGroup::GetInterruptionBehavior()
const {
return m_interruptBehavior;
}
void ParallelDeadlineGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
if (!RequireUngrouped(commands)) {
@@ -70,6 +75,10 @@ void ParallelDeadlineGroup::AddCommands(
command->SetGrouped(true);
AddRequirements(command->GetRequirements());
m_runWhenDisabled &= command->RunsWhenDisabled();
if (command->GetInterruptionBehavior() ==
Command::InterruptionBehavior::kCancelSelf) {
m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
}
m_commands.emplace_back(std::move(command), false);
} else {
throw FRC_MakeError(frc::err::CommandIllegalUse,

9
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
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@@ -43,6 +43,11 @@ bool ParallelRaceGroup::RunsWhenDisabled() const {
return m_runWhenDisabled;
}
Command::InterruptionBehavior ParallelRaceGroup::GetInterruptionBehavior()
const {
return m_interruptBehavior;
}
void ParallelRaceGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
if (!RequireUngrouped(commands)) {
@@ -60,6 +65,10 @@ void ParallelRaceGroup::AddCommands(
command->SetGrouped(true);
AddRequirements(command->GetRequirements());
m_runWhenDisabled &= command->RunsWhenDisabled();
if (command->GetInterruptionBehavior() ==
Command::InterruptionBehavior::kCancelSelf) {
m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
}
m_commands.emplace_back(std::move(command));
} else {
throw FRC_MakeError(frc::err::CommandIllegalUse,

9
wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
View File

@@ -53,6 +53,11 @@ bool SequentialCommandGroup::RunsWhenDisabled() const {
return m_runWhenDisabled;
}
Command::InterruptionBehavior SequentialCommandGroup::GetInterruptionBehavior()
const {
return m_interruptBehavior;
}
void SequentialCommandGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
if (!RequireUngrouped(commands)) {
@@ -69,6 +74,10 @@ void SequentialCommandGroup::AddCommands(
command->SetGrouped(true);
AddRequirements(command->GetRequirements());
m_runWhenDisabled &= command->RunsWhenDisabled();
if (command->GetInterruptionBehavior() ==
Command::InterruptionBehavior::kCancelSelf) {
m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
}
m_commands.emplace_back(std::move(command));
}
}

4
wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
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@@ -84,11 +84,15 @@ class ParallelCommandGroup
bool RunsWhenDisabled() const override;
Command::InterruptionBehavior GetInterruptionBehavior() const override;
private:
void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
std::vector<std::pair<std::unique_ptr<Command>, bool>> m_commands;
bool m_runWhenDisabled{true};
Command::InterruptionBehavior m_interruptBehavior{
Command::InterruptionBehavior::kCancelIncoming};
bool isRunning = false;
};
} // namespace frc2

4
wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
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@@ -92,6 +92,8 @@ class ParallelDeadlineGroup
bool RunsWhenDisabled() const override;
Command::InterruptionBehavior GetInterruptionBehavior() const override;
private:
void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
@@ -100,6 +102,8 @@ class ParallelDeadlineGroup
std::vector<std::pair<std::unique_ptr<Command>, bool>> m_commands;
Command* m_deadline;
bool m_runWhenDisabled{true};
Command::InterruptionBehavior m_interruptBehavior{
Command::InterruptionBehavior::kCancelIncoming};
bool m_finished{true};
};
} // namespace frc2

4
wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
View File

@@ -72,11 +72,15 @@ class ParallelRaceGroup
bool RunsWhenDisabled() const override;
Command::InterruptionBehavior GetInterruptionBehavior() const override;
private:
void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
std::vector<std::unique_ptr<Command>> m_commands;
bool m_runWhenDisabled{true};
Command::InterruptionBehavior m_interruptBehavior{
Command::InterruptionBehavior::kCancelIncoming};
bool m_finished{false};
bool isRunning = false;
};

14
wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
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@@ -69,6 +69,10 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
for (auto&& command : foo) {
this->AddRequirements(command.second->GetRequirements());
m_runsWhenDisabled &= command.second->RunsWhenDisabled();
if (command.second->GetInterruptionBehavior() ==
Command::InterruptionBehavior::kCancelSelf) {
m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
}
m_commands.emplace(std::move(command.first), std::move(command.second));
}
}
@@ -86,6 +90,10 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
for (auto&& command : commands) {
this->AddRequirements(command.second->GetRequirements());
m_runsWhenDisabled &= command.second->RunsWhenDisabled();
if (command.second->GetInterruptionBehavior() ==
Command::InterruptionBehavior::kCancelSelf) {
m_interruptBehavior = Command::InterruptionBehavior::kCancelSelf;
}
m_commands.emplace(std::move(command.first), std::move(command.second));
}
}
@@ -118,6 +126,10 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
bool RunsWhenDisabled() const override { return m_runsWhenDisabled; }
Command::InterruptionBehavior GetInterruptionBehavior() const override {
return m_interruptBehavior;
}
protected:
std::unique_ptr<Command> TransferOwnership() && override {
return std::make_unique<SelectCommand>(std::move(*this));
@@ -129,6 +141,8 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
std::function<Command*()> m_toRun;
Command* m_selectedCommand;
bool m_runsWhenDisabled = true;
Command::InterruptionBehavior m_interruptBehavior{
Command::InterruptionBehavior::kCancelIncoming};
};
template <typename T>

4
wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
View File

@@ -87,12 +87,16 @@ class SequentialCommandGroup
bool RunsWhenDisabled() const override;
Command::InterruptionBehavior GetInterruptionBehavior() const override;
private:
void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
wpi::SmallVector<std::unique_ptr<Command>, 4> m_commands;
size_t m_currentCommandIndex{invalid_index};
bool m_runWhenDisabled{true};
Command::InterruptionBehavior m_interruptBehavior{
Command::InterruptionBehavior::kCancelIncoming};
};
} // namespace frc2