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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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85
wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
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@@ -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());
}