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[commands] Revamp Interruptible (#4192)

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This commit is contained in:
Starlight220
2022-08-30 07:53:47 +03:00
committed by GitHub
parent f2a8d38d2a
commit c3a93fb995
26 changed files with 369 additions and 592 deletions
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7
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
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@@ -44,12 +44,13 @@ class CommandRequirementsTest extends CommandTestBase {
try (CommandScheduler scheduler = new CommandScheduler()) {
Subsystem requirement = new SubsystemBase() {};
MockCommandHolder interruptedHolder = new MockCommandHolder(true, requirement);
Command notInterrupted = interruptedHolder.getMock();
Command notInterrupted =
new RunCommand(() -> {}, requirement)
.withInterruptBehavior(Command.InterruptionBehavior.kCancelIncoming);
MockCommandHolder interrupterHolder = new MockCommandHolder(true, requirement);
Command interrupter = interrupterHolder.getMock();
scheduler.schedule(false, notInterrupted);
scheduler.schedule(notInterrupted);
scheduler.schedule(interrupter);
assertTrue(scheduler.isScheduled(notInterrupted));

2
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
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@@ -66,7 +66,7 @@ class CommandScheduleTest extends CommandTestBase {
MockCommandHolder command3Holder = new MockCommandHolder(true);
Command command3 = command3Holder.getMock();
scheduler.schedule(true, command1, command2, command3);
scheduler.schedule(command1, command2, command3);
assertTrue(scheduler.isScheduled(command1, command2, command3));
scheduler.run();
assertTrue(scheduler.isScheduled(command1, command2, command3));

35
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulingRecursionTest.java
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@@ -9,19 +9,20 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.ValueSource;
import org.junit.jupiter.params.provider.EnumSource;
class SchedulingRecursionTest extends CommandTestBase {
/**
* <a href="https://github.com/wpilibsuite/allwpilib/issues/4259">wpilibsuite/allwpilib#4259</a>.
*/
@ValueSource(booleans = {true, false})
@EnumSource(InterruptionBehavior.class)
@ParameterizedTest
void cancelFromInitialize(boolean interruptible) {
void cancelFromInitialize(InterruptionBehavior interruptionBehavior) {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean hasOtherRun = new AtomicBoolean();
Subsystem requirement = new SubsystemBase() {};
@@ -35,14 +36,18 @@ class SchedulingRecursionTest extends CommandTestBase {
public void initialize() {
scheduler.cancel(this);
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
return interruptionBehavior;
}
};
Command other = new RunCommand(() -> hasOtherRun.set(true), requirement);
assertDoesNotThrow(
() -> {
scheduler.schedule(interruptible, selfCancels);
scheduler.schedule(selfCancels);
scheduler.run();
// interruptibility of new arrival isn't checked
scheduler.schedule(other);
});
assertFalse(scheduler.isScheduled(selfCancels));
@@ -52,9 +57,9 @@ class SchedulingRecursionTest extends CommandTestBase {
}
}
@ValueSource(booleans = {true, false})
@EnumSource(InterruptionBehavior.class)
@ParameterizedTest
void defaultCommand(boolean interruptible) {
void defaultCommandGetsRescheduledAfterSelfCanceling(InterruptionBehavior interruptionBehavior) {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicBoolean hasOtherRun = new AtomicBoolean();
Subsystem requirement = new SubsystemBase() {};
@@ -68,13 +73,18 @@ class SchedulingRecursionTest extends CommandTestBase {
public void initialize() {
scheduler.cancel(this);
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
return interruptionBehavior;
}
};
Command other = new RunCommand(() -> hasOtherRun.set(true), requirement);
scheduler.setDefaultCommand(requirement, other);
assertDoesNotThrow(
() -> {
scheduler.schedule(interruptible, selfCancels);
scheduler.schedule(selfCancels);
scheduler.run();
});
scheduler.run();
@@ -161,12 +171,13 @@ class SchedulingRecursionTest extends CommandTestBase {
}
@ParameterizedTest
@ValueSource(booleans = {true, false})
void scheduleInitializeFromDefaultCommand(boolean interruptible) {
@EnumSource(InterruptionBehavior.class)
void scheduleInitializeFromDefaultCommand(InterruptionBehavior interruptionBehavior) {
try (CommandScheduler scheduler = new CommandScheduler()) {
AtomicInteger counter = new AtomicInteger();
Subsystem requirement = new SubsystemBase() {};
Command other = new InstantCommand(() -> {}, requirement);
Command other =
new InstantCommand(() -> {}, requirement).withInterruptBehavior(interruptionBehavior);
Command defaultCommand =
new CommandBase() {
{
@@ -176,7 +187,7 @@ class SchedulingRecursionTest extends CommandTestBase {
@Override
public void initialize() {
counter.incrementAndGet();
scheduler.schedule(interruptible, other);
scheduler.schedule(other);
}
};

24
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
View File

@@ -31,11 +31,11 @@ class ButtonTest extends CommandTestBase {
button.setPressed(false);
button.whenPressed(command1);
scheduler.run();
verify(command1, never()).schedule(true);
verify(command1, never()).schedule();
button.setPressed(true);
scheduler.run();
scheduler.run();
verify(command1).schedule(true);
verify(command1).schedule();
}
@Test
@@ -48,11 +48,11 @@ class ButtonTest extends CommandTestBase {
button.setPressed(true);
button.whenReleased(command1);
scheduler.run();
verify(command1, never()).schedule(true);
verify(command1, never()).schedule();
button.setPressed(false);
scheduler.run();
scheduler.run();
verify(command1).schedule(true);
verify(command1).schedule();
}
@Test
@@ -65,11 +65,11 @@ class ButtonTest extends CommandTestBase {
button.setPressed(false);
button.whileHeld(command1);
scheduler.run();
verify(command1, never()).schedule(true);
verify(command1, never()).schedule();
button.setPressed(true);
scheduler.run();
scheduler.run();
verify(command1, times(2)).schedule(true);
verify(command1, times(2)).schedule();
button.setPressed(false);
scheduler.run();
verify(command1).cancel();
@@ -85,11 +85,11 @@ class ButtonTest extends CommandTestBase {
button.setPressed(false);
button.whenHeld(command1);
scheduler.run();
verify(command1, never()).schedule(true);
verify(command1, never()).schedule();
button.setPressed(true);
scheduler.run();
scheduler.run();
verify(command1).schedule(true);
verify(command1).schedule();
button.setPressed(false);
scheduler.run();
verify(command1).cancel();
@@ -105,12 +105,12 @@ class ButtonTest extends CommandTestBase {
button.setPressed(false);
button.toggleWhenPressed(command1);
scheduler.run();
verify(command1, never()).schedule(true);
verify(command1, never()).schedule();
button.setPressed(true);
scheduler.run();
when(command1.isScheduled()).thenReturn(true);
scheduler.run();
verify(command1).schedule(true);
verify(command1).schedule();
button.setPressed(false);
scheduler.run();
verify(command1, never()).cancel();
@@ -200,13 +200,13 @@ class ButtonTest extends CommandTestBase {
button.setPressed(true);
scheduler.run();
verify(command, never()).schedule(true);
verify(command, never()).schedule();
SimHooks.stepTiming(0.3);
button.setPressed(true);
scheduler.run();
verify(command).schedule(true);
verify(command).schedule();
}
@Test

4
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
View File

@@ -37,10 +37,10 @@ class NetworkButtonTest extends CommandTestBase {
entry.setBoolean(false);
button.whenPressed(command);
scheduler.run();
verify(command, never()).schedule(true);
verify(command, never()).schedule();
entry.setBoolean(true);
scheduler.run();
scheduler.run();
verify(command).schedule(true);
verify(command).schedule();
}
}