SCRIPT Move java files

commandsv2/src/test/java/org/wpilib/command2/ParallelRaceGroupTest.java

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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.
+
+package edu.wpi.first.wpilibj2.command;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.reset;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+
+import org.junit.jupiter.api.Test;
+
+class ParallelRaceGroupTest extends MultiCompositionTestBase<ParallelRaceGroup> {
+  @Test
+  void parallelRaceScheduleTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      MockCommandHolder command1Holder = new MockCommandHolder(true);
+      Command command1 = command1Holder.getMock();
+      MockCommandHolder command2Holder = new MockCommandHolder(true);
+      Command command2 = command2Holder.getMock();
+
+      Command group = new ParallelRaceGroup(command1, command2);
+
+      scheduler.schedule(group);
+
+      verify(command1).initialize();
+      verify(command2).initialize();
+
+      command1Holder.setFinished(true);
+      scheduler.run();
+      command2Holder.setFinished(true);
+      scheduler.run();
+
+      verify(command1).execute();
+      verify(command1).end(false);
+      verify(command2).execute();
+      verify(command2).end(true);
+      verify(command2, never()).end(false);
+
+      assertFalse(scheduler.isScheduled(group));
+    }
+  }
+
+  @Test
+  void parallelRaceInterruptTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      MockCommandHolder command1Holder = new MockCommandHolder(true);
+      Command command1 = command1Holder.getMock();
+      MockCommandHolder command2Holder = new MockCommandHolder(true);
+      Command command2 = command2Holder.getMock();
+
+      Command group = new ParallelRaceGroup(command1, command2);
+
+      scheduler.schedule(group);
+
+      scheduler.run();
+      scheduler.run();
+      scheduler.cancel(group);
+
+      verify(command1, times(2)).execute();
+      verify(command1, never()).end(false);
+      verify(command1).end(true);
+
+      verify(command2, times(2)).execute();
+      verify(command2, never()).end(false);
+      verify(command2).end(true);
+
+      assertFalse(scheduler.isScheduled(group));
+    }
+  }
+
+  @Test
+  void notScheduledCancelTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      MockCommandHolder command1Holder = new MockCommandHolder(true);
+      Command command1 = command1Holder.getMock();
+      MockCommandHolder command2Holder = new MockCommandHolder(true);
+      Command command2 = command2Holder.getMock();
+
+      Command group = new ParallelRaceGroup(command1, command2);
+
+      assertDoesNotThrow(() -> scheduler.cancel(group));
+    }
+  }
+
+  @Test
+  void parallelRaceRequirementTest() {
+    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);
+      Command command1 = command1Holder.getMock();
+      MockCommandHolder command2Holder = new MockCommandHolder(true, system3);
+      Command command2 = command2Holder.getMock();
+      MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
+      Command command3 = command3Holder.getMock();
+
+      Command group = new ParallelRaceGroup(command1, command2);
+
+      scheduler.schedule(group);
+      scheduler.schedule(command3);
+
+      assertFalse(scheduler.isScheduled(group));
+      assertTrue(scheduler.isScheduled(command3));
+    }
+  }
+
+  @Test
+  void parallelRaceRequirementErrorTest() {
+    Subsystem system1 = new SubsystemBase() {};
+    Subsystem system2 = new SubsystemBase() {};
+    Subsystem system3 = new SubsystemBase() {};
+
+    MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+    Command command1 = command1Holder.getMock();
+    MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
+    Command command2 = command2Holder.getMock();
+
+    assertThrows(IllegalArgumentException.class, () -> new ParallelRaceGroup(command1, command2));
+  }
+
+  @Test
+  void parallelRaceOnlyCallsEndOnceTest() {
+    Subsystem system1 = new SubsystemBase() {};
+    Subsystem system2 = new SubsystemBase() {};
+
+    MockCommandHolder command1Holder = new MockCommandHolder(true, system1);
+    Command command1 = command1Holder.getMock();
+    MockCommandHolder command2Holder = new MockCommandHolder(true, system2);
+    Command command2 = command2Holder.getMock();
+    MockCommandHolder command3Holder = new MockCommandHolder(true);
+    Command command3 = command3Holder.getMock();
+
+    Command group1 = Commands.sequence(command1, command2);
+    assertNotNull(group1);
+    assertNotNull(command3);
+    Command group2 = new ParallelRaceGroup(group1, command3);
+
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      scheduler.schedule(group2);
+      scheduler.run();
+      command1Holder.setFinished(true);
+      scheduler.run();
+      command2Holder.setFinished(true);
+      // at this point the sequential group should be done
+      assertDoesNotThrow(scheduler::run);
+      assertFalse(scheduler.isScheduled(group2));
+    }
+  }
+
+  @Test
+  void parallelRaceScheduleTwiceTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      MockCommandHolder command1Holder = new MockCommandHolder(true);
+      Command command1 = command1Holder.getMock();
+      MockCommandHolder command2Holder = new MockCommandHolder(true);
+      Command command2 = command2Holder.getMock();
+
+      Command group = new ParallelRaceGroup(command1, command2);
+
+      scheduler.schedule(group);
+
+      verify(command1).initialize();
+      verify(command2).initialize();
+
+      command1Holder.setFinished(true);
+      scheduler.run();
+      command2Holder.setFinished(true);
+      scheduler.run();
+
+      verify(command1).execute();
+      verify(command1).end(false);
+      verify(command2).execute();
+      verify(command2).end(true);
+      verify(command2, never()).end(false);
+
+      assertFalse(scheduler.isScheduled(group));
+
+      reset(command1);
+      reset(command2);
+
+      scheduler.schedule(group);
+
+      verify(command1).initialize();
+      verify(command2).initialize();
+
+      scheduler.run();
+      scheduler.run();
+      assertTrue(scheduler.isScheduled(group));
+      command2Holder.setFinished(true);
+      scheduler.run();
+
+      assertFalse(scheduler.isScheduled(group));
+    }
+  }
+
+  @Override
+  public ParallelRaceGroup compose(Command... members) {
+    return new ParallelRaceGroup(members);
+  }
+}