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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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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());
}
}