mirror of
https://github.com/wpilibsuite/allwpilib
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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
@@ -0,0 +1,444 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Commands/CommandGroup.h"
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#include "Commands/Scheduler.h"
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#include "Commands/Subsystem.h"
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#include "DriverStation.h"
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#include "RobotState.h"
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#include "Timer.h"
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#include "command/MockCommand.h"
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#include "gtest/gtest.h"
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using namespace frc;
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class CommandTest : public testing::Test {
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protected:
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void SetUp() override {
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RobotState::SetImplementation(DriverStation::GetInstance());
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Scheduler::GetInstance()->SetEnabled(true);
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}
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/**
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* Tears Down the Scheduler at the end of each test.
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* Must be called at the end of each test inside each test in order to prevent
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* them being deallocated
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* when they leave the scope of the test (causing a segfault).
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* This can not be done within the virtual void Teardown() method because it
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* is called outside of the
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* scope of the test.
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*/
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void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); }
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void AssertCommandState(MockCommand& command, int32_t initialize,
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int32_t execute, int32_t isFinished, int32_t end,
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int32_t interrupted) {
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EXPECT_EQ(initialize, command.GetInitializeCount());
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EXPECT_EQ(execute, command.GetExecuteCount());
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EXPECT_EQ(isFinished, command.GetIsFinishedCount());
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EXPECT_EQ(end, command.GetEndCount());
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EXPECT_EQ(interrupted, command.GetInterruptedCount());
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}
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};
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class ASubsystem : public Subsystem {
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private:
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Command* m_command = nullptr;
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public:
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explicit ASubsystem(const std::string& name) : Subsystem(name) {}
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void InitDefaultCommand() override {
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if (m_command != nullptr) {
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SetDefaultCommand(m_command);
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}
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}
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void Init(Command* command) { m_command = command; }
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};
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// CommandParallelGroupTest ported from CommandParallelGroupTest.java
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TEST_F(CommandTest, ParallelCommands) {
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MockCommand command1;
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MockCommand command2;
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CommandGroup commandGroup;
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commandGroup.AddParallel(&command1);
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commandGroup.AddParallel(&command2);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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commandGroup.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 2, 2, 0, 0);
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AssertCommandState(command2, 1, 2, 2, 0, 0);
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command1.SetHasFinished(true);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 1, 0);
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AssertCommandState(command2, 1, 3, 3, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 1, 0);
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AssertCommandState(command2, 1, 4, 4, 0, 0);
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command2.SetHasFinished(true);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 1, 0);
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AssertCommandState(command2, 1, 5, 5, 1, 0);
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TeardownScheduler();
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}
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// END CommandParallelGroupTest
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// CommandScheduleTest ported from CommandScheduleTest.java
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TEST_F(CommandTest, RunAndTerminate) {
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MockCommand command;
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command.Start();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 2, 2, 0, 0);
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command.SetHasFinished(true);
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AssertCommandState(command, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 1, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest, RunAndCancel) {
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MockCommand command;
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command.Start();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 0);
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command.Cancel();
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AssertCommandState(command, 1, 3, 3, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 1);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 1);
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TeardownScheduler();
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}
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// END CommandScheduleTest
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// CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
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TEST_F(CommandTest, ThreeCommandOnSubSystem) {
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ASubsystem subsystem("Three Command Test Subsystem");
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MockCommand command1;
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command1.Requires(&subsystem);
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MockCommand command2;
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command2.Requires(&subsystem);
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MockCommand command3;
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command3.Requires(&subsystem);
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CommandGroup commandGroup;
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commandGroup.AddSequential(&command1, 1.0);
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commandGroup.AddSequential(&command2, 2.0);
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commandGroup.AddSequential(&command3);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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commandGroup.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Wait(1); // command 1 timeout
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 1, 1, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 0);
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AssertCommandState(command3, 0, 0, 0, 0, 0);
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Wait(2); // command 2 timeout
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 2, 2, 0, 0);
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command3.SetHasFinished(true);
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 1);
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AssertCommandState(command3, 1, 3, 3, 1, 0);
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TeardownScheduler();
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}
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// END CommandSequentialGroupTest
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// CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
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TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies) {
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auto subsystem = new ASubsystem("Command Superseding Test Subsystem");
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MockCommand command1;
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command1.Requires(subsystem);
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MockCommand command2;
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command2.Requires(subsystem);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command1.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 2, 2, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command2.Start();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 1);
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AssertCommandState(command2, 1, 3, 3, 0, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest,
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OneCommandFailingSupersedingBecauseFirstCanNotBeInterrupted) {
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ASubsystem subsystem("Command Superseding Test Subsystem");
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MockCommand command1;
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command1.Requires(&subsystem);
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command1.SetInterruptible(false);
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MockCommand command2;
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command2.Requires(&subsystem);
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command1.Start();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 0, 0, 0, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 1, 1, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 2, 2, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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command2.Start();
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AssertCommandState(command1, 1, 3, 3, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command1, 1, 4, 4, 0, 0);
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AssertCommandState(command2, 0, 0, 0, 0, 0);
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TeardownScheduler();
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}
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// END CommandSequentialGroupTest
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class ModifiedMockCommand : public MockCommand {
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public:
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ModifiedMockCommand() : MockCommand() { SetTimeout(2.0); }
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bool IsFinished() override {
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return MockCommand::IsFinished() || IsTimedOut();
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}
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};
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TEST_F(CommandTest, TwoSecondTimeout) {
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ASubsystem subsystem("Two Second Timeout Test Subsystem");
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ModifiedMockCommand command;
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command.Requires(&subsystem);
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command.Start();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 3, 3, 0, 0);
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Wait(2);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 4, 4, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(command, 1, 4, 4, 1, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself) {
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ASubsystem subsystem("Default Command Test Subsystem");
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MockCommand defaultCommand;
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defaultCommand.Requires(&subsystem);
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MockCommand anotherCommand;
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anotherCommand.Requires(&subsystem);
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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subsystem.Init(&defaultCommand);
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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anotherCommand.Start();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
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anotherCommand.SetHasFinished(true);
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
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AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
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AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
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TeardownScheduler();
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}
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TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled) {
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ASubsystem subsystem("Default Command Test Subsystem");
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MockCommand defaultCommand;
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defaultCommand.Requires(&subsystem);
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MockCommand anotherCommand;
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anotherCommand.Requires(&subsystem);
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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subsystem.Init(&defaultCommand);
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subsystem.InitDefaultCommand();
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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anotherCommand.Start();
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AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
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Scheduler::GetInstance()->Run();
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AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
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AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
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Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
anotherCommand.Cancel();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
|
||||
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
|
||||
|
||||
TeardownScheduler();
|
||||
}
|
||||
@@ -0,0 +1,100 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2017. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include <DriverStation.h>
|
||||
#include <RobotState.h>
|
||||
|
||||
#include "Commands/ConditionalCommand.h"
|
||||
#include "Commands/Scheduler.h"
|
||||
#include "command/MockCommand.h"
|
||||
#include "command/MockConditionalCommand.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
class ConditionalCommandTest : public testing::Test {
|
||||
public:
|
||||
MockConditionalCommand* m_command;
|
||||
MockCommand* m_onTrue;
|
||||
MockCommand* m_onFalse;
|
||||
|
||||
protected:
|
||||
void SetUp() override {
|
||||
RobotState::SetImplementation(DriverStation::GetInstance());
|
||||
Scheduler::GetInstance()->SetEnabled(true);
|
||||
|
||||
m_onTrue = new MockCommand();
|
||||
m_onFalse = new MockCommand();
|
||||
m_command = new MockConditionalCommand(m_onTrue, m_onFalse);
|
||||
}
|
||||
|
||||
void TearDown() override { delete m_command; }
|
||||
|
||||
/**
|
||||
* Tears Down the Scheduler at the end of each test.
|
||||
*
|
||||
* Must be called at the end of each test inside each test in order to prevent
|
||||
* them being deallocated when they leave the scope of the test (causing a
|
||||
* segfault). This cannot be done within the virtual void Teardown() method
|
||||
* because it is called outside of the scope of the test.
|
||||
*/
|
||||
void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); }
|
||||
|
||||
void AssertCommandState(MockCommand& command, int32_t initialize,
|
||||
int32_t execute, int32_t isFinished, int32_t end,
|
||||
int32_t interrupted) {
|
||||
EXPECT_EQ(initialize, command.GetInitializeCount());
|
||||
EXPECT_EQ(execute, command.GetExecuteCount());
|
||||
EXPECT_EQ(isFinished, command.GetIsFinishedCount());
|
||||
EXPECT_EQ(end, command.GetEndCount());
|
||||
EXPECT_EQ(interrupted, command.GetInterruptedCount());
|
||||
}
|
||||
};
|
||||
|
||||
TEST_F(ConditionalCommandTest, OnTrueTest) {
|
||||
m_command->SetCondition(true);
|
||||
|
||||
Scheduler::GetInstance()->AddCommand(m_command);
|
||||
AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run(); // init command and select m_onTrue
|
||||
AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run(); // init m_onTrue
|
||||
AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(*m_onTrue, 1, 1, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(*m_onTrue, 1, 2, 4, 0, 0);
|
||||
|
||||
EXPECT_TRUE(m_onTrue->GetInitializeCount() > 0)
|
||||
<< "Did not initialize the true command\n";
|
||||
EXPECT_TRUE(m_onFalse->GetInitializeCount() == 0)
|
||||
<< "Initialized the false command\n";
|
||||
|
||||
TeardownScheduler();
|
||||
}
|
||||
|
||||
TEST_F(ConditionalCommandTest, OnFalseTest) {
|
||||
m_command->SetCondition(false);
|
||||
|
||||
Scheduler::GetInstance()->AddCommand(m_command);
|
||||
AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run(); // init command and select m_onTrue
|
||||
AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run(); // init m_onTrue
|
||||
AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(*m_onFalse, 1, 1, 2, 0, 0);
|
||||
Scheduler::GetInstance()->Run();
|
||||
AssertCommandState(*m_onFalse, 1, 2, 4, 0, 0);
|
||||
|
||||
EXPECT_TRUE(m_onFalse->GetInitializeCount() > 0)
|
||||
<< "Did not initialize the false command";
|
||||
EXPECT_TRUE(m_onTrue->GetInitializeCount() == 0)
|
||||
<< "Initialized the true command";
|
||||
|
||||
TeardownScheduler();
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2014-2017. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "command/MockCommand.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
MockCommand::MockCommand() {
|
||||
m_initializeCount = 0;
|
||||
m_executeCount = 0;
|
||||
m_isFinishedCount = 0;
|
||||
m_hasFinished = false;
|
||||
m_endCount = 0;
|
||||
m_interruptedCount = 0;
|
||||
}
|
||||
|
||||
bool MockCommand::HasInitialized() { return GetInitializeCount() > 0; }
|
||||
|
||||
bool MockCommand::HasEnd() { return GetEndCount() > 0; }
|
||||
|
||||
bool MockCommand::HasInterrupted() { return GetInterruptedCount() > 0; }
|
||||
|
||||
void MockCommand::Initialize() { ++m_initializeCount; }
|
||||
|
||||
void MockCommand::Execute() { ++m_executeCount; }
|
||||
|
||||
bool MockCommand::IsFinished() {
|
||||
++m_isFinishedCount;
|
||||
return IsHasFinished();
|
||||
}
|
||||
|
||||
void MockCommand::End() { ++m_endCount; }
|
||||
|
||||
void MockCommand::Interrupted() { ++m_interruptedCount; }
|
||||
@@ -0,0 +1,20 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2017. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "command/MockConditionalCommand.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
MockConditionalCommand::MockConditionalCommand(MockCommand* onTrue,
|
||||
MockCommand* onFalse)
|
||||
: ConditionalCommand(onTrue, onFalse) {}
|
||||
|
||||
void MockConditionalCommand::SetCondition(bool condition) {
|
||||
m_condition = condition;
|
||||
}
|
||||
|
||||
bool MockConditionalCommand::Condition() { return m_condition; }
|
||||
Reference in New Issue
Block a user