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SCRIPT Move java files
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PJ Reiniger
committed by
Peter Johnson
Peter Johnson
parent
7ca1be9bae
commit
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247
commandsv3/src/test/java/org/wpilib/command3/TriggerTest.java
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247
commandsv3/src/test/java/org/wpilib/command3/TriggerTest.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.commands3;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertFalse;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import java.util.List;
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import java.util.concurrent.atomic.AtomicBoolean;
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import org.junit.jupiter.api.Test;
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class TriggerTest extends CommandTestBase {
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@Test
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void onTrue() {
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var signal = new AtomicBoolean(false);
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var trigger = new Trigger(m_scheduler, signal::get);
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var command = Command.noRequirements().executing(Coroutine::park).named("Command");
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trigger.onTrue(command);
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signal.set(true);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command), "Command was not scheduled on rising edge");
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signal.set(false);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command), "Command should still be running on falling edge");
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}
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@Test
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void onFalse() {
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var signal = new AtomicBoolean(false);
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var trigger = new Trigger(m_scheduler, signal::get);
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var command = Command.noRequirements().executing(Coroutine::park).named("Command");
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trigger.onFalse(command);
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m_scheduler.run();
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assertTrue(
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m_scheduler.isRunning(command), "Command should be scheduled when signal starts low");
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signal.set(true);
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m_scheduler.run();
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assertTrue(
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m_scheduler.isRunning(command), "Command should still be running rising falling edge");
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}
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@Test
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void whileTrue() {
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var signal = new AtomicBoolean(false);
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var trigger = new Trigger(m_scheduler, signal::get);
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var command = Command.noRequirements().executing(Coroutine::park).named("Command");
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trigger.whileTrue(command);
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signal.set(true);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command), "Command was not scheduled on rising edge");
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signal.set(false);
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m_scheduler.run();
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assertFalse(m_scheduler.isRunning(command), "Command should be canceled on falling edge");
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}
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@Test
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void whileFalse() {
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var signal = new AtomicBoolean(false);
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var trigger = new Trigger(m_scheduler, signal::get);
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var command = Command.noRequirements().executing(Coroutine::park).named("Command");
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trigger.whileFalse(command);
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m_scheduler.run();
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assertTrue(
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m_scheduler.isRunning(command), "Command should be scheduled when signal starts low");
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signal.set(true);
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m_scheduler.run();
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assertFalse(m_scheduler.isRunning(command), "Command should be canceled on rising edge");
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}
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@Test
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void toggleOnTrue() {
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var signal = new AtomicBoolean(false);
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var trigger = new Trigger(m_scheduler, signal::get);
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var command = Command.noRequirements().executing(Coroutine::park).named("Command");
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trigger.toggleOnTrue(command);
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m_scheduler.run();
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assertFalse(m_scheduler.isRunning(command));
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signal.set(true);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command));
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signal.set(false);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command));
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signal.set(true);
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m_scheduler.run();
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assertFalse(m_scheduler.isRunning(command));
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}
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@Test
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void toggleOnFalse() {
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var signal = new AtomicBoolean(false);
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var trigger = new Trigger(m_scheduler, signal::get);
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var command = Command.noRequirements().executing(Coroutine::park).named("Command");
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trigger.toggleOnFalse(command);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command));
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signal.set(true);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command));
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signal.set(false);
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m_scheduler.run();
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assertFalse(m_scheduler.isRunning(command));
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}
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@Test
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void commandScoping() {
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var innerRan = new AtomicBoolean(false);
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var innerSignal = new AtomicBoolean(false);
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var inner =
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Command.noRequirements()
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.executing(
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co -> {
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while (true) {
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innerRan.set(true);
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co.park();
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}
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})
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.named("Inner");
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var outer =
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Command.noRequirements()
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.executing(
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co -> {
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new Trigger(m_scheduler, innerSignal::get).onTrue(inner);
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// If we yield, then the outer command exits and immediately cancels the
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// on-deck inner command before it can run
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co.park();
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})
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.named("Outer");
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m_scheduler.schedule(outer);
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m_scheduler.run();
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assertFalse(innerRan.get(), "The bound command should not run before the signal is set");
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innerSignal.set(true);
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m_scheduler.run();
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assertTrue(innerRan.get(), "The nested trigger should have run the bound command");
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innerRan.set(false);
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m_scheduler.run();
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assertFalse(innerRan.get(), "Trigger should not have fired again");
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}
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@Test
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void scopeGoingInactiveCancelsBoundCommand() {
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var activeScope = new AtomicBoolean(true);
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BindingScope scope = activeScope::get;
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var triggerSignal = new AtomicBoolean(false);
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var trigger = new Trigger(m_scheduler, triggerSignal::get);
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var command = Command.noRequirements().executing(Coroutine::park).named("Command");
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trigger.addBinding(scope, BindingType.RUN_WHILE_HIGH, command);
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triggerSignal.set(true);
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(command), "Command should have started when triggered");
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activeScope.set(false);
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m_scheduler.run();
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assertFalse(
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m_scheduler.isRunning(command),
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"Command should have been canceled when scope became inactive");
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}
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// The scheduler lifecycle polls triggers at the start of `run()`
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// Even though the trigger condition is set, the command exits and the trigger's scope goes
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// inactive before the next `run()` call can poll the trigger
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@Test
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void triggerFromExitingCommandDoesNotFire() {
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var condition = new AtomicBoolean(false);
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var triggeredCommandRan = new AtomicBoolean(false);
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var inner =
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Command.noRequirements()
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.executing(
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co -> {
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triggeredCommandRan.set(true);
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co.park();
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})
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.named("Inner");
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var awaited =
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Command.noRequirements()
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.executing(
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co -> {
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co.yield();
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condition.set(true);
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})
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.named("Awaited");
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var outer =
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Command.noRequirements()
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.executing(
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co -> {
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new Trigger(m_scheduler, condition::get).onTrue(inner);
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co.await(awaited);
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})
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.named("Outer");
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m_scheduler.schedule(outer);
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// First run: schedules `awaited`, yields
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m_scheduler.run();
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assertTrue(m_scheduler.isRunning(outer));
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assertTrue(m_scheduler.isRunning(awaited));
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assertEquals(
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List.of("Outer", "Awaited"),
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m_scheduler.getRunningCommands().stream().map(Command::name).toList());
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// Second run: `awaited` resumes, sets the condition, exits. `outer` exits its final `yield`
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// and will exit on the next run. The trigger condition has been set, but the trigger is checked
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// on the next call to `run()`
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m_scheduler.run();
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assertEquals(List.of(), m_scheduler.getRunningCommands().stream().map(Command::name).toList());
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assertTrue(condition.get(), "Condition wasn't set");
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assertFalse(triggeredCommandRan.get(), "Command was unexpectedly triggered");
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// Third run: trigger binding fires (outside a running command) and queues up `inner`.
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// However, the inner command's lifetime is bound to `outer`, and is immediately canceled before
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// it can run when the outer command exits.
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m_scheduler.run();
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assertEquals(List.of(), m_scheduler.getRunningCommands().stream().map(Command::name).toList());
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assertFalse(triggeredCommandRan.get(), "Command was unexpectedly triggered");
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}
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}
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