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[wpilib] Reduce usage of NTSendable (#5434)

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This commit is contained in:
Gold856
2023-07-24 00:34:49 -04:00
committed by GitHub
parent d125711023
commit 99b88be4f3
11 changed files with 134 additions and 85 deletions
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24
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp
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@@ -2,6 +2,9 @@
// 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 <frc/smartdashboard/SmartDashboard.h>
#include <networktables/NetworkTableInstance.h>
#include "CommandTestBase.h"
using namespace frc2;
@@ -98,3 +101,24 @@ TEST_F(CommandScheduleTest, NotScheduledCancel) {
EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&command));
}
TEST_F(CommandScheduleTest, SmartDashboardCancel) {
CommandScheduler scheduler = GetScheduler();
frc::SmartDashboard::PutData("Scheduler", &scheduler);
frc::SmartDashboard::UpdateValues();
MockCommand command;
scheduler.Schedule(&command);
scheduler.Run();
frc::SmartDashboard::UpdateValues();
EXPECT_TRUE(scheduler.IsScheduled(&command));
uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(&command);
nt::NetworkTableInstance::GetDefault()
.GetEntry("/SmartDashboard/Scheduler/Cancel")
.SetIntegerArray(
std::span<const int64_t>{{static_cast<int64_t>(ptrTmp)}});
frc::SmartDashboard::UpdateValues();
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
}