Add tests for SendableChooser and Command Sendable functionality (#5179)

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java

@@ -0,0 +1,114 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.networktables.BooleanPublisher;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.concurrent.atomic.AtomicInteger;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class CommandSendableButtonTest extends CommandTestBase {
+  private NetworkTableInstance m_inst;
+  private AtomicInteger m_schedule;
+  private AtomicInteger m_cancel;
+  private BooleanPublisher m_publish;
+  private CommandBase m_command;
+
+  @BeforeEach
+  void setUp() {
+    m_inst = NetworkTableInstance.create();
+    SmartDashboard.setNetworkTableInstance(m_inst);
+    m_schedule = new AtomicInteger();
+    m_cancel = new AtomicInteger();
+    m_command = Commands.startEnd(m_schedule::incrementAndGet, m_cancel::incrementAndGet);
+    m_publish = m_inst.getBooleanTopic("/SmartDashboard/command/running").publish();
+    SmartDashboard.putData("command", m_command);
+    SmartDashboard.updateValues();
+  }
+
+  @Test
+  void trueAndNotScheduledSchedules() {
+    // Not scheduled and true -> scheduled
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertFalse(m_command.isScheduled());
+    assertEquals(0, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(true);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+  }
+
+  @Test
+  void trueAndScheduledNoOp() {
+    // Scheduled and true -> no-op
+    m_command.schedule();
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(true);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+  }
+
+  @Test
+  void falseAndNotScheduledNoOp() {
+    // Not scheduled and false -> no-op
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertFalse(m_command.isScheduled());
+    assertEquals(0, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(false);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertFalse(m_command.isScheduled());
+    assertEquals(0, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+  }
+
+  @Test
+  void falseAndScheduledCancel() {
+    // Scheduled and false -> cancel
+    m_command.schedule();
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(false);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertFalse(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(1, m_cancel.get());
+  }
+
+  @AfterEach
+  void tearDown() {
+    m_publish.close();
+    m_inst.close();
+    SmartDashboard.setNetworkTableInstance(NetworkTableInstance.getDefault());
+  }
+}