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[commands] Revamp Interruptible (#4192)

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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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28
wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
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@@ -7,6 +7,7 @@
#include "CommandTestBase.h"
#include "frc2/command/CommandScheduler.h"
#include "frc2/command/ConditionalCommand.h"
#include "frc2/command/FunctionalCommand.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/ParallelCommandGroup.h"
#include "frc2/command/ParallelDeadlineGroup.h"
@@ -49,26 +50,35 @@ TEST_F(CommandRequirementsTest, RequirementUninterruptible) {
TestSubsystem requirement;
MockCommand command1({&requirement});
MockCommand command2({&requirement});
int initCounter = 0;
int exeCounter = 0;
int endCounter = 0;
EXPECT_CALL(command1, Initialize());
EXPECT_CALL(command1, Execute()).Times(2);
EXPECT_CALL(command1, End(true)).Times(0);
EXPECT_CALL(command1, End(false)).Times(0);
std::unique_ptr<Command> command1 =
FunctionalCommand([&initCounter] { initCounter++; },
[&exeCounter] { exeCounter++; },
[&endCounter](bool interruptible) { endCounter++; },
[] { return false; }, {&requirement})
.WithInterruptBehavior(
Command::InterruptionBehavior::kCancelIncoming);
MockCommand command2({&requirement});
EXPECT_CALL(command2, Initialize()).Times(0);
EXPECT_CALL(command2, Execute()).Times(0);
EXPECT_CALL(command2, End(true)).Times(0);
EXPECT_CALL(command2, End(false)).Times(0);
scheduler.Schedule(false, &command1);
scheduler.Schedule(command1.get());
EXPECT_EQ(1, initCounter);
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command1));
EXPECT_EQ(1, exeCounter);
EXPECT_TRUE(scheduler.IsScheduled(command1.get()));
scheduler.Schedule(&command2);
EXPECT_TRUE(scheduler.IsScheduled(&command1));
EXPECT_TRUE(scheduler.IsScheduled(command1.get()));
EXPECT_FALSE(scheduler.IsScheduled(&command2));
scheduler.Run();
EXPECT_EQ(2, exeCounter);
EXPECT_EQ(0, endCounter);
}
TEST_F(CommandRequirementsTest, DefaultCommandRequirementError) {