[commands] Add DeferredCommand (#5566)

Allows commands to be constructed at runtime without proxying.
2026-06-20 00:51:42 +00:00 · 2023-10-26 22:16:33 -04:00
parent ad80eb3a0b
commit c87f8fd538
11 changed files with 405 additions and 0 deletions
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/DeferredCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/DeferredCommandTest.cpp
@@ -0,0 +1,75 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "CommandTestBase.h"
+#include "frc2/command/Commands.h"
+#include "frc2/command/DeferredCommand.h"
+#include "frc2/command/FunctionalCommand.h"
+
+using namespace frc2;
+
+class DeferredFunctionsTest : public CommandTestBaseWithParam<bool> {};
+
+TEST_P(DeferredFunctionsTest, DeferredFunctions) {
+  int initializeCount = 0;
+  int executeCount = 0;
+  int isFinishedCount = 0;
+  int endCount = 0;
+  bool finished = false;
+
+  DeferredCommand deferred{[&] {
+                             return FunctionalCommand{
+                                 [&] { initializeCount++; },
+                                 [&] { executeCount++; },
+                                 [&](bool interrupted) {
+                                   EXPECT_EQ(interrupted, GetParam());
+                                   endCount++;
+                                 },
+                                 [&] {
+                                   isFinishedCount++;
+                                   return finished;
+                                 }}
+                                 .ToPtr();
+                           },
+                           {}};
+
+  deferred.Initialize();
+  EXPECT_EQ(1, initializeCount);
+  deferred.Execute();
+  EXPECT_EQ(1, executeCount);
+  EXPECT_FALSE(deferred.IsFinished());
+  EXPECT_EQ(1, isFinishedCount);
+  finished = true;
+  EXPECT_TRUE(deferred.IsFinished());
+  EXPECT_EQ(2, isFinishedCount);
+  deferred.End(GetParam());
+  EXPECT_EQ(1, endCount);
+}
+
+INSTANTIATE_TEST_SUITE_P(DeferredCommandTests, DeferredFunctionsTest,
+                         testing::Values(true, false));
+
+TEST(DeferredCommandTest, DeferredSupplierOnlyCalledDuringInit) {
+  int count = 0;
+  DeferredCommand command{[&count] {
+                            count++;
+                            return cmd::None();
+                          },
+                          {}};
+
+  EXPECT_EQ(0, count);
+  command.Initialize();
+  EXPECT_EQ(1, count);
+  command.Execute();
+  command.IsFinished();
+  command.End(false);
+  EXPECT_EQ(1, count);
+}
+
+TEST(DeferredCommandTest, DeferredRequirements) {
+  TestSubsystem subsystem;
+  DeferredCommand command{cmd::None, {&subsystem}};
+
+  EXPECT_TRUE(command.GetRequirements().contains(&subsystem));
+}