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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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21
wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
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@@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include "CommandTestBase.h"
#include "CompositionTestBase.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/ParallelDeadlineGroup.h"
#include "frc2/command/WaitUntilCommand.h"
@@ -131,3 +132,23 @@ TEST_F(ParallelDeadlineGroupTest, ParallelDeadlineRequirement) {
EXPECT_TRUE(scheduler.IsScheduled(&command3));
EXPECT_FALSE(scheduler.IsScheduled(&group));
}
class TestableDeadlineCommand : public ParallelDeadlineGroup {
static ParallelDeadlineGroup ToCommand(
std::vector<std::unique_ptr<Command>>&& commands) {
std::vector<std::unique_ptr<Command>> vec;
std::unique_ptr<Command> deadline = std::move(commands[0]);
for (unsigned int i = 1; i < commands.size(); i++) {
vec.emplace_back(std::move(commands[i]));
}
return ParallelDeadlineGroup(std::move(deadline), std::move(vec));
}
public:
explicit TestableDeadlineCommand(
std::vector<std::unique_ptr<Command>>&& commands)
: ParallelDeadlineGroup(ToCommand(std::move(commands))) {}
};
INSTANTIATE_MULTI_COMMAND_COMPOSITION_TEST_SUITE(ParallelDeadlineGroupTest,
TestableDeadlineCommand);