diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java index 8d26a0eff6..2ab1981a74 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java @@ -42,14 +42,14 @@ class CommandDecoratorTest extends CommandTestBase { @Test void untilTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder condition = new ConditionHolder(); + AtomicBoolean condition = new AtomicBoolean(); - Command command = new WaitCommand(10).until(condition::getCondition); + Command command = new WaitCommand(10).until(condition::get); scheduler.schedule(command); scheduler.run(); assertTrue(scheduler.isScheduled(command)); - condition.setCondition(true); + condition.set(true); scheduler.run(); assertFalse(scheduler.isScheduled(command)); } @@ -58,61 +58,61 @@ class CommandDecoratorTest extends CommandTestBase { @Test void beforeStartingTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder condition = new ConditionHolder(); - condition.setCondition(false); + AtomicBoolean condition = new AtomicBoolean(); + condition.set(false); Command command = new InstantCommand(); - scheduler.schedule(command.beforeStarting(() -> condition.setCondition(true))); + scheduler.schedule(command.beforeStarting(() -> condition.set(true))); - assertTrue(condition.getCondition()); + assertTrue(condition.get()); } } @Test void andThenLambdaTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder condition = new ConditionHolder(); - condition.setCondition(false); + AtomicBoolean condition = new AtomicBoolean(); + condition.set(false); Command command = new InstantCommand(); - scheduler.schedule(command.andThen(() -> condition.setCondition(true))); + scheduler.schedule(command.andThen(() -> condition.set(true))); - assertFalse(condition.getCondition()); + assertFalse(condition.get()); scheduler.run(); - assertTrue(condition.getCondition()); + assertTrue(condition.get()); } } @Test void andThenTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder condition = new ConditionHolder(); - condition.setCondition(false); + AtomicBoolean condition = new AtomicBoolean(); + condition.set(false); Command command1 = new InstantCommand(); - Command command2 = new InstantCommand(() -> condition.setCondition(true)); + Command command2 = new InstantCommand(() -> condition.set(true)); scheduler.schedule(command1.andThen(command2)); - assertFalse(condition.getCondition()); + assertFalse(condition.get()); scheduler.run(); - assertTrue(condition.getCondition()); + assertTrue(condition.get()); } } @Test void deadlineWithTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder condition = new ConditionHolder(); - condition.setCondition(false); + AtomicBoolean condition = new AtomicBoolean(); + condition.set(false); - Command dictator = new WaitUntilCommand(condition::getCondition); + Command dictator = new WaitUntilCommand(condition::get); Command endsBefore = new InstantCommand(); Command endsAfter = new WaitUntilCommand(() -> false); @@ -123,7 +123,7 @@ class CommandDecoratorTest extends CommandTestBase { assertTrue(scheduler.isScheduled(group)); - condition.setCondition(true); + condition.set(true); scheduler.run(); assertFalse(scheduler.isScheduled(group)); @@ -133,10 +133,10 @@ class CommandDecoratorTest extends CommandTestBase { @Test void alongWithTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder condition = new ConditionHolder(); - condition.setCondition(false); + AtomicBoolean condition = new AtomicBoolean(); + condition.set(false); - Command command1 = new WaitUntilCommand(condition::getCondition); + Command command1 = new WaitUntilCommand(condition::get); Command command2 = new InstantCommand(); Command group = command1.alongWith(command2); @@ -146,7 +146,7 @@ class CommandDecoratorTest extends CommandTestBase { assertTrue(scheduler.isScheduled(group)); - condition.setCondition(true); + condition.set(true); scheduler.run(); assertFalse(scheduler.isScheduled(group)); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java index b5058c75a9..2f831f6423 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java @@ -15,7 +15,7 @@ class CommandRequirementsTest extends CommandTestBase { @Test void requirementInterruptTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Subsystem requirement = new TestSubsystem(); + Subsystem requirement = new SubsystemBase() {}; MockCommandHolder interruptedHolder = new MockCommandHolder(true, requirement); Command interrupted = interruptedHolder.getMock(); @@ -42,7 +42,7 @@ class CommandRequirementsTest extends CommandTestBase { @Test void requirementUninterruptibleTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Subsystem requirement = new TestSubsystem(); + Subsystem requirement = new SubsystemBase() {}; MockCommandHolder interruptedHolder = new MockCommandHolder(true, requirement); Command notInterrupted = interruptedHolder.getMock(); @@ -60,7 +60,7 @@ class CommandRequirementsTest extends CommandTestBase { @Test void defaultCommandRequirementErrorTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Subsystem system = new TestSubsystem(); + Subsystem system = new SubsystemBase() {}; Command missingRequirement = new WaitUntilCommand(() -> false); Command ends = new InstantCommand(() -> {}, system); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java index 151399df08..5dbcaf348f 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java @@ -12,7 +12,7 @@ import edu.wpi.first.wpilibj.simulation.DriverStationSim; import java.util.Set; import org.junit.jupiter.api.BeforeEach; -/** Basic setup for all {@link Command tests}." */ +/** Basic setup for all {@link Command tests}. */ public class CommandTestBase { protected CommandTestBase() {} @@ -41,8 +41,6 @@ public class CommandTestBase { } } - public static class TestSubsystem extends SubsystemBase {} - public static class MockCommandHolder { private final Command m_mockCommand = mock(Command.class); @@ -60,24 +58,4 @@ public class CommandTestBase { when(m_mockCommand.isFinished()).thenReturn(finished); } } - - public static class Counter { - public int m_counter; - - public void increment() { - m_counter++; - } - } - - public static class ConditionHolder { - private boolean m_condition; - - public void setCondition(boolean condition) { - m_condition = condition; - } - - public boolean getCondition() { - return m_condition; - } - } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java index ccf4205953..420a8a70b6 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java @@ -38,9 +38,9 @@ class ConditionalCommandTest extends CommandTestBase { @Test void conditionalCommandRequirementTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; try (CommandScheduler scheduler = new CommandScheduler()) { MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java index dc910fc701..23ae47d648 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java @@ -14,7 +14,7 @@ class DefaultCommandTest extends CommandTestBase { @Test void defaultCommandScheduleTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - TestSubsystem hasDefaultCommand = new TestSubsystem(); + Subsystem hasDefaultCommand = new SubsystemBase() {}; MockCommandHolder defaultHolder = new MockCommandHolder(true, hasDefaultCommand); Command defaultCommand = defaultHolder.getMock(); @@ -29,7 +29,7 @@ class DefaultCommandTest extends CommandTestBase { @Test void defaultCommandInterruptResumeTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - TestSubsystem hasDefaultCommand = new TestSubsystem(); + Subsystem hasDefaultCommand = new SubsystemBase() {}; MockCommandHolder defaultHolder = new MockCommandHolder(true, hasDefaultCommand); Command defaultCommand = defaultHolder.getMock(); @@ -54,7 +54,7 @@ class DefaultCommandTest extends CommandTestBase { @Test void defaultCommandDisableResumeTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - TestSubsystem hasDefaultCommand = new TestSubsystem(); + Subsystem hasDefaultCommand = new SubsystemBase() {}; MockCommandHolder defaultHolder = new MockCommandHolder(false, hasDefaultCommand); Command defaultCommand = defaultHolder.getMock(); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java index e6a073f4d8..f983e8a667 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java @@ -7,37 +7,38 @@ package edu.wpi.first.wpilibj2.command; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.concurrent.atomic.AtomicBoolean; import org.junit.jupiter.api.Test; class FunctionalCommandTest extends CommandTestBase { @Test void functionalCommandScheduleTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder cond1 = new ConditionHolder(); - ConditionHolder cond2 = new ConditionHolder(); - ConditionHolder cond3 = new ConditionHolder(); - ConditionHolder cond4 = new ConditionHolder(); + AtomicBoolean cond1 = new AtomicBoolean(); + AtomicBoolean cond2 = new AtomicBoolean(); + AtomicBoolean cond3 = new AtomicBoolean(); + AtomicBoolean cond4 = new AtomicBoolean(); FunctionalCommand command = new FunctionalCommand( - () -> cond1.setCondition(true), - () -> cond2.setCondition(true), - interrupted -> cond3.setCondition(true), - cond4::getCondition); + () -> cond1.set(true), + () -> cond2.set(true), + interrupted -> cond3.set(true), + cond4::get); scheduler.schedule(command); scheduler.run(); assertTrue(scheduler.isScheduled(command)); - cond4.setCondition(true); + cond4.set(true); scheduler.run(); assertFalse(scheduler.isScheduled(command)); - assertTrue(cond1.getCondition()); - assertTrue(cond2.getCondition()); - assertTrue(cond3.getCondition()); + assertTrue(cond1.get()); + assertTrue(cond2.get()); + assertTrue(cond3.get()); } } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java index 88c55a66e6..813a44adf5 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java @@ -7,20 +7,21 @@ package edu.wpi.first.wpilibj2.command; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.concurrent.atomic.AtomicBoolean; import org.junit.jupiter.api.Test; class InstantCommandTest extends CommandTestBase { @Test void instantCommandScheduleTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder cond = new ConditionHolder(); + AtomicBoolean cond = new AtomicBoolean(); - InstantCommand command = new InstantCommand(() -> cond.setCondition(true)); + InstantCommand command = new InstantCommand(() -> cond.set(true)); scheduler.schedule(command); scheduler.run(); - assertTrue(cond.getCondition()); + assertTrue(cond.get()); assertFalse(scheduler.isScheduled(command)); } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java index 283a3ded22..4928cb1014 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java @@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import edu.wpi.first.hal.HAL; import edu.wpi.first.wpilibj.simulation.SimHooks; +import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; @@ -29,9 +30,9 @@ class NotifierCommandTest extends CommandTestBase { @ResourceLock("timing") void notifierCommandScheduleTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Counter counter = new Counter(); + AtomicInteger counter = new AtomicInteger(0); - NotifierCommand command = new NotifierCommand(counter::increment, 0.01); + NotifierCommand command = new NotifierCommand(counter::incrementAndGet, 0.01); scheduler.schedule(command); for (int i = 0; i < 5; ++i) { @@ -39,7 +40,7 @@ class NotifierCommandTest extends CommandTestBase { } scheduler.cancel(command); - assertEquals(2, counter.m_counter); + assertEquals(2, counter.get()); } } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java index afc32aef69..5bdc56bf8d 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java @@ -89,10 +89,10 @@ class ParallelCommandGroupTest extends CommandTestBase { @Test void parallelGroupRequirementTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); - Subsystem system4 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; + Subsystem system4 = new SubsystemBase() {}; try (CommandScheduler scheduler = new CommandScheduler()) { MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); @@ -114,9 +114,9 @@ class ParallelCommandGroupTest extends CommandTestBase { @Test void parallelGroupRequirementErrorTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); Command command1 = command1Holder.getMock(); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java index 1fe3866794..236497e171 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java @@ -85,10 +85,10 @@ class ParallelDeadlineGroupTest extends CommandTestBase { @Test void parallelDeadlineRequirementTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); - Subsystem system4 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; + Subsystem system4 = new SubsystemBase() {}; try (CommandScheduler scheduler = new CommandScheduler()) { MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); @@ -110,9 +110,9 @@ class ParallelDeadlineGroupTest extends CommandTestBase { @Test void parallelDeadlineRequirementErrorTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); Command command1 = command1Holder.getMock(); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java index 3c5cec2a64..0898b052b3 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java @@ -91,10 +91,10 @@ class ParallelRaceGroupTest extends CommandTestBase { @Test void parallelRaceRequirementTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); - Subsystem system4 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; + Subsystem system4 = new SubsystemBase() {}; try (CommandScheduler scheduler = new CommandScheduler()) { MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); @@ -116,9 +116,9 @@ class ParallelRaceGroupTest extends CommandTestBase { @Test void parallelRaceRequirementErrorTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); Command command1 = command1Holder.getMock(); @@ -130,8 +130,8 @@ class ParallelRaceGroupTest extends CommandTestBase { @Test void parallelRaceOnlyCallsEndOnceTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; MockCommandHolder command1Holder = new MockCommandHolder(true, system1); Command command1 = command1Holder.getMock(); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java index 3c346888b2..eaf3216602 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java @@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; import static org.mockito.Mockito.verify; +import java.util.concurrent.atomic.AtomicBoolean; import org.junit.jupiter.api.Test; class ProxyScheduleCommandTest extends CommandTestBase { @@ -28,9 +29,9 @@ class ProxyScheduleCommandTest extends CommandTestBase { @Test void proxyScheduleCommandEndTest() { try (CommandScheduler scheduler = CommandScheduler.getInstance()) { - ConditionHolder cond = new ConditionHolder(); + AtomicBoolean cond = new AtomicBoolean(); - WaitUntilCommand command = new WaitUntilCommand(cond::getCondition); + WaitUntilCommand command = new WaitUntilCommand(cond::get); ProxyScheduleCommand scheduleCommand = new ProxyScheduleCommand(command); @@ -39,7 +40,7 @@ class ProxyScheduleCommandTest extends CommandTestBase { scheduler.run(); assertTrue(scheduler.isScheduled(scheduleCommand)); - cond.setCondition(true); + cond.set(true); scheduler.run(); scheduler.run(); assertFalse(scheduler.isScheduled(scheduleCommand)); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java index 92e2d75a31..1f63487f34 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java @@ -6,22 +6,23 @@ package edu.wpi.first.wpilibj2.command; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.Test; class RunCommandTest extends CommandTestBase { @Test void runCommandScheduleTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Counter counter = new Counter(); + AtomicInteger counter = new AtomicInteger(0); - RunCommand command = new RunCommand(counter::increment); + RunCommand command = new RunCommand(counter::incrementAndGet); scheduler.schedule(command); scheduler.run(); scheduler.run(); scheduler.run(); - assertEquals(3, counter.m_counter); + assertEquals(3, counter.get()); } } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java index 558ef570dc..c1075bb65e 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java @@ -7,45 +7,46 @@ package edu.wpi.first.wpilibj2.command; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.Test; class SchedulerTest extends CommandTestBase { @Test void schedulerLambdaTestNoInterrupt() { try (CommandScheduler scheduler = new CommandScheduler()) { - Counter counter = new Counter(); + AtomicInteger counter = new AtomicInteger(); - scheduler.onCommandInitialize(command -> counter.increment()); - scheduler.onCommandExecute(command -> counter.increment()); - scheduler.onCommandFinish(command -> counter.increment()); + scheduler.onCommandInitialize(command -> counter.incrementAndGet()); + scheduler.onCommandExecute(command -> counter.incrementAndGet()); + scheduler.onCommandFinish(command -> counter.incrementAndGet()); scheduler.schedule(new InstantCommand()); scheduler.run(); - assertEquals(counter.m_counter, 3); + assertEquals(counter.get(), 3); } } @Test void schedulerInterruptLambdaTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Counter counter = new Counter(); + AtomicInteger counter = new AtomicInteger(); - scheduler.onCommandInterrupt(command -> counter.increment()); + scheduler.onCommandInterrupt(command -> counter.incrementAndGet()); Command command = new WaitCommand(10); scheduler.schedule(command); scheduler.cancel(command); - assertEquals(counter.m_counter, 1); + assertEquals(counter.get(), 1); } } @Test void unregisterSubsystemTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Subsystem system = new TestSubsystem(); + Subsystem system = new SubsystemBase() {}; scheduler.registerSubsystem(system); assertDoesNotThrow(() -> scheduler.unregisterSubsystem(system)); @@ -55,9 +56,9 @@ class SchedulerTest extends CommandTestBase { @Test void schedulerCancelAllTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - Counter counter = new Counter(); + AtomicInteger counter = new AtomicInteger(); - scheduler.onCommandInterrupt(command -> counter.increment()); + scheduler.onCommandInterrupt(command -> counter.incrementAndGet()); Command command = new WaitCommand(10); Command command2 = new WaitCommand(10); @@ -66,7 +67,7 @@ class SchedulerTest extends CommandTestBase { scheduler.schedule(command2); scheduler.cancelAll(); - assertEquals(counter.m_counter, 2); + assertEquals(counter.get(), 2); } } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java index de40ef8de0..a4e4a29869 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java @@ -74,10 +74,10 @@ class SelectCommandTest extends CommandTestBase { @Test void selectCommandRequirementTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); - Subsystem system4 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; + Subsystem system4 = new SubsystemBase() {}; try (CommandScheduler scheduler = new CommandScheduler()) { MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java index 811034c8f4..7110b460ec 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java @@ -99,10 +99,10 @@ class SequentialCommandGroupTest extends CommandTestBase { @Test void sequentialGroupRequirementTest() { - Subsystem system1 = new TestSubsystem(); - Subsystem system2 = new TestSubsystem(); - Subsystem system3 = new TestSubsystem(); - Subsystem system4 = new TestSubsystem(); + Subsystem system1 = new SubsystemBase() {}; + Subsystem system2 = new SubsystemBase() {}; + Subsystem system3 = new SubsystemBase() {}; + Subsystem system4 = new SubsystemBase() {}; try (CommandScheduler scheduler = new CommandScheduler()) { MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java index 60c5c44de6..db0d792818 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java @@ -7,17 +7,17 @@ package edu.wpi.first.wpilibj2.command; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.concurrent.atomic.AtomicBoolean; import org.junit.jupiter.api.Test; class StartEndCommandTest extends CommandTestBase { @Test void startEndCommandScheduleTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder cond1 = new ConditionHolder(); - ConditionHolder cond2 = new ConditionHolder(); + AtomicBoolean cond1 = new AtomicBoolean(); + AtomicBoolean cond2 = new AtomicBoolean(); - StartEndCommand command = - new StartEndCommand(() -> cond1.setCondition(true), () -> cond2.setCondition(true)); + StartEndCommand command = new StartEndCommand(() -> cond1.set(true), () -> cond2.set(true)); scheduler.schedule(command); scheduler.run(); @@ -27,8 +27,8 @@ class StartEndCommandTest extends CommandTestBase { scheduler.cancel(command); assertFalse(scheduler.isScheduled(command)); - assertTrue(cond1.getCondition()); - assertTrue(cond2.getCondition()); + assertTrue(cond1.get()); + assertTrue(cond2.get()); } } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java index 85539dc4b0..e91ae4e563 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java @@ -7,20 +7,21 @@ package edu.wpi.first.wpilibj2.command; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.concurrent.atomic.AtomicBoolean; import org.junit.jupiter.api.Test; class WaitUntilCommandTest extends CommandTestBase { @Test void waitUntilTest() { try (CommandScheduler scheduler = new CommandScheduler()) { - ConditionHolder condition = new ConditionHolder(); + AtomicBoolean condition = new AtomicBoolean(); - Command command = new WaitUntilCommand(condition::getCondition); + Command command = new WaitUntilCommand(condition::get); scheduler.schedule(command); scheduler.run(); assertTrue(scheduler.isScheduled(command)); - condition.setCondition(true); + condition.set(true); scheduler.run(); assertFalse(scheduler.isScheduled(command)); } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java index f39f39cae6..b778de6013 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java @@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.simulation.SimHooks; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.CommandTestBase; +import java.util.concurrent.atomic.AtomicInteger; import java.util.function.BooleanSupplier; import org.junit.jupiter.api.Test; @@ -145,11 +146,11 @@ class ButtonTest extends CommandTestBase { buttonWhileHeld.setPressed(true); buttonWhenReleased.setPressed(true); - Counter counter = new Counter(); + AtomicInteger counter = new AtomicInteger(0); - buttonWhenPressed.whenPressed(counter::increment); - buttonWhileHeld.whileHeld(counter::increment); - buttonWhenReleased.whenReleased(counter::increment); + buttonWhenPressed.whenPressed(counter::incrementAndGet); + buttonWhileHeld.whileHeld(counter::incrementAndGet); + buttonWhenReleased.whenReleased(counter::incrementAndGet); CommandScheduler scheduler = CommandScheduler.getInstance(); @@ -158,7 +159,7 @@ class ButtonTest extends CommandTestBase { buttonWhenReleased.setPressed(false); scheduler.run(); - assertEquals(counter.m_counter, 4); + assertEquals(counter.get(), 4); } @Test