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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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36
wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp
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@@ -3,43 +3,51 @@
// the WPILib BSD license file in the root directory of this project.
#include "CommandTestBase.h"
#include "frc2/command/Command.h"
#include "frc2/command/CommandHelper.h"
#include "frc2/command/RunCommand.h"
#include "gtest/gtest.h"
using namespace frc2;
class SchedulingRecursionTest : public CommandTestBaseWithParam<bool> {};
class SchedulingRecursionTest
: public CommandTestBaseWithParam<Command::InterruptionBehavior> {};
class SelfCancellingCommand
: public CommandHelper<CommandBase, SelfCancellingCommand> {
public:
SelfCancellingCommand(CommandScheduler* scheduler, Subsystem* requirement)
: m_scheduler(scheduler) {
SelfCancellingCommand(CommandScheduler* scheduler, Subsystem* requirement,
Command::InterruptionBehavior interruptionBehavior =
Command::InterruptionBehavior::kCancelSelf)
: m_scheduler(scheduler), m_interrupt(interruptionBehavior) {
AddRequirements(requirement);
}
void Initialize() override { m_scheduler->Cancel(this); }
InterruptionBehavior GetInterruptionBehavior() const override {
return m_interrupt;
}
private:
CommandScheduler* m_scheduler;
InterruptionBehavior m_interrupt;
};
/**
* Checks <a
* href="https://github.com/wpilibsuite/allwpilib/issues/4259">wpilibsuite/allwpilib#4259</a>.
*/
TEST_P(SchedulingRecursionTest, CancelFromInitialize) {
TEST_F(SchedulingRecursionTest, CancelFromInitialize) {
CommandScheduler scheduler = GetScheduler();
bool hasOtherRun = false;
TestSubsystem requirement;
SelfCancellingCommand selfCancels{&scheduler, &requirement};
auto selfCancels = SelfCancellingCommand(&scheduler, &requirement);
RunCommand other =
RunCommand([&hasOtherRun] { hasOtherRun = true; }, {&requirement});
scheduler.Schedule(GetParam(), &selfCancels);
scheduler.Schedule(&selfCancels);
scheduler.Run();
// interruptibility of new arrival isn't checked
scheduler.Schedule(&other);
EXPECT_FALSE(scheduler.IsScheduled(&selfCancels));
@@ -48,16 +56,18 @@ TEST_P(SchedulingRecursionTest, CancelFromInitialize) {
EXPECT_TRUE(hasOtherRun);
}
TEST_P(SchedulingRecursionTest, DefaultCommand) {
TEST_P(SchedulingRecursionTest,
DefaultCommandGetsRescheduledAfterSelfCanceling) {
CommandScheduler scheduler = GetScheduler();
bool hasOtherRun = false;
TestSubsystem requirement;
SelfCancellingCommand selfCancels{&scheduler, &requirement};
auto selfCancels =
SelfCancellingCommand(&scheduler, &requirement, GetParam());
RunCommand other =
RunCommand([&hasOtherRun] { hasOtherRun = true; }, {&requirement});
scheduler.SetDefaultCommand(&requirement, std::move(other));
scheduler.Schedule(GetParam(), &selfCancels);
scheduler.Schedule(&selfCancels);
scheduler.Run();
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&selfCancels));
@@ -93,5 +103,7 @@ TEST_F(SchedulingRecursionTest, CancelFromEnd) {
EXPECT_FALSE(scheduler.IsScheduled(&selfCancels));
}
INSTANTIATE_TEST_SUITE_P(SchedulingRecursionTests, SchedulingRecursionTest,
testing::Bool());
INSTANTIATE_TEST_SUITE_P(
SchedulingRecursionTests, SchedulingRecursionTest,
testing::Values(Command::InterruptionBehavior::kCancelSelf,
Command::InterruptionBehavior::kCancelIncoming));