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[commands] Add ConditionalCommand getInterruptionBehavior (#5161)

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This commit is contained in:
Starlight220
2023-06-23 18:21:05 +03:00
committed by GitHub
parent 89fc51f0d4
commit c4fc21838f
5 changed files with 205 additions and 0 deletions
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10
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
View File

@@ -73,6 +73,16 @@ public class ConditionalCommand extends CommandBase {
return m_onTrue.runsWhenDisabled() && m_onFalse.runsWhenDisabled();
}
@Override
public InterruptionBehavior getInterruptionBehavior() {
if (m_onTrue.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf
|| m_onFalse.getInterruptionBehavior() == InterruptionBehavior.kCancelSelf) {
return InterruptionBehavior.kCancelSelf;
} else {
return InterruptionBehavior.kCancelIncoming;
}
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);

12
wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
View File

@@ -53,6 +53,18 @@ bool ConditionalCommand::RunsWhenDisabled() const {
return m_runsWhenDisabled;
}
Command::InterruptionBehavior ConditionalCommand::GetInterruptionBehavior()
const {
if (m_onTrue->GetInterruptionBehavior() ==
InterruptionBehavior::kCancelSelf ||
m_onFalse->GetInterruptionBehavior() ==
InterruptionBehavior::kCancelSelf) {
return InterruptionBehavior::kCancelSelf;
} else {
return InterruptionBehavior::kCancelIncoming;
}
}
void ConditionalCommand::InitSendable(wpi::SendableBuilder& builder) {
CommandBase::InitSendable(builder);
builder.AddStringProperty(

2
wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
View File

@@ -72,6 +72,8 @@ class ConditionalCommand
bool RunsWhenDisabled() const override;
InterruptionBehavior GetInterruptionBehavior() const override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:

96
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
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@@ -4,11 +4,19 @@
package edu.wpi.first.wpilibj2.command;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.params.provider.Arguments.arguments;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
import java.util.function.BooleanSupplier;
import java.util.stream.Stream;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
class ConditionalCommandTest extends CommandTestBase {
@Test
@@ -60,4 +68,92 @@ class ConditionalCommandTest extends CommandTestBase {
verify(command2, never()).end(true);
}
}
static Stream<Arguments> interruptible() {
return Stream.of(
arguments(
"AllCancelSelf",
InterruptionBehavior.kCancelSelf,
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelSelf),
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelSelf),
(BooleanSupplier) () -> true),
arguments(
"AllCancelIncoming",
InterruptionBehavior.kCancelIncoming,
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
(BooleanSupplier) () -> true),
arguments(
"OneCancelSelfOneIncoming",
InterruptionBehavior.kCancelSelf,
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelSelf),
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
(BooleanSupplier) () -> true),
arguments(
"OneCancelIncomingOneSelf",
InterruptionBehavior.kCancelSelf,
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
new WaitUntilCommand(() -> false)
.withInterruptBehavior(InterruptionBehavior.kCancelSelf),
(BooleanSupplier) () -> true));
}
@MethodSource
@ParameterizedTest(name = "interruptible[{index}]: {0}")
void interruptible(
@SuppressWarnings("unused") String name,
InterruptionBehavior expected,
Command command1,
Command command2,
BooleanSupplier selector) {
var command = Commands.either(command1, command2, selector);
assertEquals(expected, command.getInterruptionBehavior());
}
static Stream<Arguments> runsWhenDisabled() {
return Stream.of(
arguments(
"AllFalse",
false,
new WaitUntilCommand(() -> false).ignoringDisable(false),
new WaitUntilCommand(() -> false).ignoringDisable(false),
(BooleanSupplier) () -> true),
arguments(
"AllTrue",
true,
new WaitUntilCommand(() -> false).ignoringDisable(true),
new WaitUntilCommand(() -> false).ignoringDisable(true),
(BooleanSupplier) () -> true),
arguments(
"OneTrueOneFalse",
false,
new WaitUntilCommand(() -> false).ignoringDisable(true),
new WaitUntilCommand(() -> false).ignoringDisable(false),
(BooleanSupplier) () -> true),
arguments(
"OneFalseOneTrue",
false,
new WaitUntilCommand(() -> false).ignoringDisable(false),
new WaitUntilCommand(() -> false).ignoringDisable(true),
(BooleanSupplier) () -> true));
}
@MethodSource
@ParameterizedTest(name = "runsWhenDisabled[{index}]: {0}")
void runsWhenDisabled(
@SuppressWarnings("unused") String name,
boolean expected,
Command command1,
Command command2,
BooleanSupplier selector) {
var command = Commands.either(command1, command2, selector);
assertEquals(expected, command.runsWhenDisabled());
}
}

85
wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
View File

@@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include "CommandTestBase.h"
#include "frc2/command/Commands.h"
#include "frc2/command/ConditionalCommand.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/SelectCommand.h"
@@ -51,3 +52,87 @@ TEST_F(ConditionalCommandTest, ConditionalCommandRequirement) {
EXPECT_TRUE(scheduler.IsScheduled(&command3));
EXPECT_FALSE(scheduler.IsScheduled(&conditional));
}
TEST_F(ConditionalCommandTest, AllTrue) {
CommandPtr command =
cmd::Either(cmd::WaitUntil([] { return false; }).IgnoringDisable(true),
cmd::WaitUntil([] { return false; }).IgnoringDisable(true),
[] { return true; });
EXPECT_EQ(true, command.get()->RunsWhenDisabled());
}
TEST_F(ConditionalCommandTest, AllFalse) {
CommandPtr command =
cmd::Either(cmd::WaitUntil([] { return false; }).IgnoringDisable(false),
cmd::WaitUntil([] { return false; }).IgnoringDisable(false),
[] { return true; });
EXPECT_EQ(false, command.get()->RunsWhenDisabled());
}
TEST_F(ConditionalCommandTest, OneTrueOneFalse) {
CommandPtr command =
cmd::Either(cmd::WaitUntil([] { return false; }).IgnoringDisable(true),
cmd::WaitUntil([] { return false; }).IgnoringDisable(false),
[] { return true; });
EXPECT_EQ(false, command.get()->RunsWhenDisabled());
}
TEST_F(ConditionalCommandTest, TwoFalseOneTrue) {
CommandPtr command =
cmd::Either(cmd::WaitUntil([] { return false; }).IgnoringDisable(false),
cmd::WaitUntil([] { return false; }).IgnoringDisable(true),
[] { return true; });
EXPECT_EQ(false, command.get()->RunsWhenDisabled());
}
TEST_F(ConditionalCommandTest, AllCancelSelf) {
CommandPtr command = cmd::Either(
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelSelf),
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelSelf),
[] { return true; });
EXPECT_EQ(Command::InterruptionBehavior::kCancelSelf,
command.get()->GetInterruptionBehavior());
}
TEST_F(ConditionalCommandTest, AllCancelIncoming) {
CommandPtr command = cmd::Either(
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelIncoming),
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelIncoming),
[] { return false; });
EXPECT_EQ(Command::InterruptionBehavior::kCancelIncoming,
command.get()->GetInterruptionBehavior());
}
TEST_F(ConditionalCommandTest, OneCancelSelfOneIncoming) {
CommandPtr command = cmd::Either(
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelSelf),
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelIncoming),
[] { return false; });
EXPECT_EQ(Command::InterruptionBehavior::kCancelSelf,
command.get()->GetInterruptionBehavior());
}
TEST_F(ConditionalCommandTest, OneCancelIncomingOneSelf) {
CommandPtr command = cmd::Either(
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelIncoming),
cmd::WaitUntil([] {
return false;
}).WithInterruptBehavior(Command::InterruptionBehavior::kCancelSelf),
[] { return false; });
EXPECT_EQ(Command::InterruptionBehavior::kCancelSelf,
command.get()->GetInterruptionBehavior());
}