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Clean up Command container iteration code (#73)

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This commit is contained in:
Tyler Veness
2018-06-23 19:41:45 -05:00
committed by Peter Johnson
parent ea7d11b1db
commit b7807bf9d2
9 changed files with 198 additions and 226 deletions
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215
wpilibcIntegrationTests/src/main/native/cpp/command/CommandTest.cpp
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@@ -34,14 +34,14 @@ class CommandTest : public testing::Test {
*/
void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); }
void AssertCommandState(MockCommand& command, int32_t initialize,
void AssertCommandState(MockCommand* command, int32_t initialize,
int32_t execute, int32_t isFinished, int32_t end,
int32_t interrupted) {
EXPECT_EQ(initialize, command.GetInitializeCount());
EXPECT_EQ(execute, command.GetExecuteCount());
EXPECT_EQ(isFinished, command.GetIsFinishedCount());
EXPECT_EQ(end, command.GetEndCount());
EXPECT_EQ(interrupted, command.GetInterruptedCount());
EXPECT_EQ(initialize, command->GetInitializeCount());
EXPECT_EQ(execute, command->GetExecuteCount());
EXPECT_EQ(isFinished, command->GetIsFinishedCount());
EXPECT_EQ(end, command->GetEndCount());
EXPECT_EQ(interrupted, command->GetInterruptedCount());
}
};
@@ -63,12 +63,12 @@ class ASubsystem : public Subsystem {
// CommandParallelGroupTest ported from CommandParallelGroupTest.java
TEST_F(CommandTest, ParallelCommands) {
MockCommand command1;
MockCommand command2;
auto command1 = new MockCommand;
auto command2 = new MockCommand;
CommandGroup commandGroup;
commandGroup.AddParallel(&command1);
commandGroup.AddParallel(&command2);
commandGroup.AddParallel(command1);
commandGroup.AddParallel(command2);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
@@ -84,14 +84,14 @@ TEST_F(CommandTest, ParallelCommands) {
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 1, 2, 2, 0, 0);
command1.SetHasFinished(true);
command1->SetHasFinished(true);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 3, 3, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 4, 4, 0, 0);
command2.SetHasFinished(true);
command2->SetHasFinished(true);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 5, 5, 1, 0);
@@ -104,19 +104,19 @@ TEST_F(CommandTest, ParallelCommands) {
TEST_F(CommandTest, RunAndTerminate) {
MockCommand command;
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
AssertCommandState(&command, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
AssertCommandState(&command, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
AssertCommandState(&command, 1, 1, 1, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
AssertCommandState(&command, 1, 2, 2, 0, 0);
command.SetHasFinished(true);
AssertCommandState(command, 1, 2, 2, 0, 0);
AssertCommandState(&command, 1, 2, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
AssertCommandState(&command, 1, 3, 3, 1, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
AssertCommandState(&command, 1, 3, 3, 1, 0);
TeardownScheduler();
}
@@ -124,21 +124,21 @@ TEST_F(CommandTest, RunAndTerminate) {
TEST_F(CommandTest, RunAndCancel) {
MockCommand command;
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
AssertCommandState(&command, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
AssertCommandState(&command, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
AssertCommandState(&command, 1, 1, 1, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
AssertCommandState(&command, 1, 2, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 3, 3, 0, 0);
AssertCommandState(&command, 1, 3, 3, 0, 0);
command.Cancel();
AssertCommandState(command, 1, 3, 3, 0, 0);
AssertCommandState(&command, 1, 3, 3, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
AssertCommandState(&command, 1, 3, 3, 0, 1);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
AssertCommandState(&command, 1, 3, 3, 0, 1);
TeardownScheduler();
}
@@ -147,17 +147,17 @@ TEST_F(CommandTest, RunAndCancel) {
// CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
TEST_F(CommandTest, ThreeCommandOnSubSystem) {
ASubsystem subsystem("Three Command Test Subsystem");
MockCommand command1;
command1.Requires(&subsystem);
MockCommand command2;
command2.Requires(&subsystem);
MockCommand command3;
command3.Requires(&subsystem);
auto command1 = new MockCommand;
command1->Requires(&subsystem);
auto command2 = new MockCommand;
command2->Requires(&subsystem);
auto command3 = new MockCommand;
command3->Requires(&subsystem);
CommandGroup commandGroup;
commandGroup.AddSequential(&command1, 1.0);
commandGroup.AddSequential(&command2, 2.0);
commandGroup.AddSequential(&command3);
commandGroup.AddSequential(command1, 1.0);
commandGroup.AddSequential(command2, 2.0);
commandGroup.AddSequential(command3);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
@@ -199,7 +199,7 @@ TEST_F(CommandTest, ThreeCommandOnSubSystem) {
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 2, 2, 0, 0);
command3.SetHasFinished(true);
command3->SetHasFinished(true);
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 2, 2, 0, 0);
@@ -220,54 +220,54 @@ TEST_F(CommandTest, ThreeCommandOnSubSystem) {
// CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies) {
auto subsystem = new ASubsystem("Command Superseding Test Subsystem");
ASubsystem subsystem("Command Superseding Test Subsystem");
MockCommand command1;
command1.Requires(subsystem);
command1.Requires(&subsystem);
MockCommand command2;
command2.Requires(subsystem);
command2.Requires(&subsystem);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 0, 0, 0, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
command1.Start();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 0, 0, 0, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 0, 0, 0, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 1, 1, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 2, 2, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 3, 3, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
command2.Start();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 3, 3, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 4, 4, 0, 1);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 1, 1, 0, 0);
AssertCommandState(&command1, 1, 4, 4, 0, 1);
AssertCommandState(&command2, 1, 1, 1, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 0);
AssertCommandState(&command1, 1, 4, 4, 0, 1);
AssertCommandState(&command2, 1, 2, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 3, 3, 0, 0);
AssertCommandState(&command1, 1, 4, 4, 0, 1);
AssertCommandState(&command2, 1, 3, 3, 0, 0);
TeardownScheduler();
}
@@ -283,36 +283,36 @@ TEST_F(CommandTest,
MockCommand command2;
command2.Requires(&subsystem);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 0, 0, 0, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
command1.Start();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 0, 0, 0, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 0, 0, 0, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 1, 1, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 2, 2, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 3, 3, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
command2.Start();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 3, 3, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(&command1, 1, 4, 4, 0, 0);
AssertCommandState(&command2, 0, 0, 0, 0, 0);
TeardownScheduler();
}
@@ -333,33 +333,33 @@ TEST_F(CommandTest, TwoSecondTimeout) {
command.Requires(&subsystem);
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
AssertCommandState(&command, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
AssertCommandState(&command, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
AssertCommandState(&command, 1, 1, 1, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
AssertCommandState(&command, 1, 2, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 3, 3, 0, 0);
AssertCommandState(&command, 1, 3, 3, 0, 0);
Wait(2);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 4, 4, 1, 0);
AssertCommandState(&command, 1, 4, 4, 1, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command, 1, 4, 4, 1, 0);
AssertCommandState(&command, 1, 4, 4, 1, 0);
TeardownScheduler();
}
TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself) {
ASubsystem subsystem("Default Command Test Subsystem");
MockCommand defaultCommand;
defaultCommand.Requires(&subsystem);
auto defaultCommand = new MockCommand;
defaultCommand->Requires(&subsystem);
MockCommand anotherCommand;
anotherCommand.Requires(&subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(&defaultCommand);
subsystem.Init(defaultCommand);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
@@ -371,42 +371,41 @@ TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself) {
anotherCommand.Start();
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
AssertCommandState(&anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
AssertCommandState(&anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
AssertCommandState(&anotherCommand, 1, 1, 1, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
AssertCommandState(&anotherCommand, 1, 2, 2, 0, 0);
anotherCommand.SetHasFinished(true);
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
AssertCommandState(&anotherCommand, 1, 2, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
AssertCommandState(&anotherCommand, 1, 3, 3, 1, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
AssertCommandState(&anotherCommand, 1, 3, 3, 1, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
AssertCommandState(&anotherCommand, 1, 3, 3, 1, 0);
TeardownScheduler();
}
TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled) {
ASubsystem subsystem("Default Command Test Subsystem");
MockCommand defaultCommand;
defaultCommand.Requires(&subsystem);
auto defaultCommand = new MockCommand;
defaultCommand->Requires(&subsystem);
MockCommand anotherCommand;
anotherCommand.Requires(&subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(&defaultCommand);
subsystem.InitDefaultCommand();
subsystem.Init(defaultCommand);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
@@ -417,28 +416,28 @@ TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled) {
anotherCommand.Start();
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
AssertCommandState(&anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
AssertCommandState(&anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
AssertCommandState(&anotherCommand, 1, 1, 1, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
AssertCommandState(&anotherCommand, 1, 2, 2, 0, 0);
anotherCommand.Cancel();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
AssertCommandState(&anotherCommand, 1, 2, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
AssertCommandState(&anotherCommand, 1, 2, 2, 0, 1);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
AssertCommandState(&anotherCommand, 1, 2, 2, 0, 1);
Scheduler::GetInstance()->Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
AssertCommandState(&anotherCommand, 1, 2, 2, 0, 1);
TeardownScheduler();
}