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[commands] Add unless() decorator (#4244)

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This commit is contained in:
ohowe
2022-05-24 10:22:19 -06:00
committed by GitHub
parent ef3714223b
commit b193b318c1
5 changed files with 77 additions and 2 deletions
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22
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
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@@ -5,6 +5,7 @@
#include <frc/simulation/SimHooks.h>
#include "CommandTestBase.h"
#include "frc2/command/ConditionalCommand.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/ParallelRaceGroup.h"
#include "frc2/command/PerpetualCommand.h"
@@ -101,3 +102,24 @@ TEST_F(CommandDecoratorTest, Perpetually) {
EXPECT_TRUE(scheduler.IsScheduled(&command));
}
TEST_F(CommandDecoratorTest, Unless) {
CommandScheduler scheduler = GetScheduler();
bool hasRun = false;
bool unlessBool = true;
auto command =
InstantCommand([&hasRun] { hasRun = true; }, {}).Unless([&unlessBool] {
return unlessBool;
});
scheduler.Schedule(&command);
scheduler.Run();
EXPECT_FALSE(hasRun);
unlessBool = false;
scheduler.Schedule(&command);
scheduler.Run();
EXPECT_TRUE(hasRun);
}