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

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Starlight220
2023-06-23 18:18:38 +03:00
committed by GitHub
parent 663bf25aaf
commit 89fc51f0d4
4 changed files with 344 additions and 0 deletions
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98
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp Normal file
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// 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.
#include <frc2/command/Commands.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <networktables/BooleanTopic.h>
#include <networktables/NetworkTableInstance.h>
#include "CommandTestBase.h"
using namespace frc2;
class CommandSendableButtonTest : public CommandTestBase {
protected:
int m_schedule;
int m_cancel;
nt::BooleanPublisher m_publish;
std::optional<CommandPtr> m_command;
void SetUp() override {
m_schedule = 0;
m_cancel = 0;
m_command = cmd::StartEnd([this] { m_schedule++; }, [this] { m_cancel++; });
m_publish = nt::NetworkTableInstance::GetDefault()
.GetBooleanTopic("/SmartDashboard/command/running")
.Publish();
frc::SmartDashboard::PutData("command", m_command->get());
frc::SmartDashboard::UpdateValues();
}
};
TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {
// Not scheduled and true -> scheduled
GetScheduler().Run();
frc::SmartDashboard::UpdateValues();
EXPECT_FALSE(m_command->IsScheduled());
EXPECT_EQ(0, m_schedule);
EXPECT_EQ(0, m_cancel);
m_publish.Set(true);
frc::SmartDashboard::UpdateValues();
GetScheduler().Run();
EXPECT_TRUE(m_command->IsScheduled());
EXPECT_EQ(1, m_schedule);
EXPECT_EQ(0, m_cancel);
}
TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
// Scheduled and true -> no-op
m_command->Schedule();
GetScheduler().Run();
frc::SmartDashboard::UpdateValues();
EXPECT_TRUE(m_command->IsScheduled());
EXPECT_EQ(1, m_schedule);
EXPECT_EQ(0, m_cancel);
m_publish.Set(true);
frc::SmartDashboard::UpdateValues();
GetScheduler().Run();
EXPECT_TRUE(m_command->IsScheduled());
EXPECT_EQ(1, m_schedule);
EXPECT_EQ(0, m_cancel);
}
TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {
// Not scheduled and false -> no-op
GetScheduler().Run();
frc::SmartDashboard::UpdateValues();
EXPECT_FALSE(m_command->IsScheduled());
EXPECT_EQ(0, m_schedule);
EXPECT_EQ(0, m_cancel);
m_publish.Set(false);
frc::SmartDashboard::UpdateValues();
GetScheduler().Run();
EXPECT_FALSE(m_command->IsScheduled());
EXPECT_EQ(0, m_schedule);
EXPECT_EQ(0, m_cancel);
}
TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
// Scheduled and false -> cancel
m_command->Schedule();
GetScheduler().Run();
frc::SmartDashboard::UpdateValues();
EXPECT_TRUE(m_command->IsScheduled());
EXPECT_EQ(1, m_schedule);
EXPECT_EQ(0, m_cancel);
m_publish.Set(false);
frc::SmartDashboard::UpdateValues();
GetScheduler().Run();
EXPECT_FALSE(m_command->IsScheduled());
EXPECT_EQ(1, m_schedule);
EXPECT_EQ(1, m_cancel);
}