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[commands] Add FinallyDo and HandleInterrupt decorators (#4412)

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Starlight220
2022-10-11 19:53:27 +03:00
committed by GitHub
parent 1497665f96
commit 89a3d00297
7 changed files with 251 additions and 0 deletions
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60
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
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@@ -7,6 +7,7 @@
#include "CommandTestBase.h"
#include "frc2/command/ConditionalCommand.h"
#include "frc2/command/EndlessCommand.h"
#include "frc2/command/FunctionalCommand.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/PerpetualCommand.h"
@@ -152,3 +153,62 @@ TEST_F(CommandDecoratorTest, Unless) {
scheduler.Run();
EXPECT_TRUE(hasRun);
}
TEST_F(CommandDecoratorTest, FinallyDo) {
CommandScheduler scheduler = GetScheduler();
int first = 0;
int second = 0;
CommandPtr command = FunctionalCommand([] {}, [] {},
[&first](bool interrupted) {
if (!interrupted) {
first++;
}
},
[] { return true; })
.FinallyDo([&first, &second](bool interrupted) {
if (!interrupted) {
// to differentiate between "didn't run" and "ran
// before command's `end()`
second += 1 + first;
}
});
scheduler.Schedule(command);
EXPECT_EQ(0, first);
EXPECT_EQ(0, second);
scheduler.Run();
EXPECT_EQ(1, first);
// if `second == 0`, neither of the lambdas ran.
// if `second == 1`, the second lambda ran before the first one
EXPECT_EQ(2, second);
}
// handleInterruptTest() implicitly tests the interrupt=true branch of
// finallyDo()
TEST_F(CommandDecoratorTest, HandleInterrupt) {
CommandScheduler scheduler = GetScheduler();
int first = 0;
int second = 0;
CommandPtr command = FunctionalCommand([] {}, [] {},
[&first](bool interrupted) {
if (interrupted) {
first++;
}
},
[] { return false; })
.HandleInterrupt([&first, &second] {
// to differentiate between "didn't run" and "ran
// before command's `end()`
second += 1 + first;
});
scheduler.Schedule(command);
scheduler.Run();
EXPECT_EQ(0, first);
EXPECT_EQ(0, second);
scheduler.Cancel(command);
// if `second == 0`, neither of the lambdas ran.
// if `second == 1`, the second lambda ran before the first one
EXPECT_EQ(2, second);
}