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[commands] Add test for subsystem registration and periodic (#5408)

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This commit is contained in:
Ryan Blue
2023-06-20 23:29:59 -04:00
committed by GitHub
parent 5d3a133f9f
commit ebae341a91
3 changed files with 56 additions and 4 deletions
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18
wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp
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@@ -43,14 +43,30 @@ TEST_F(SchedulerTest, SchedulerLambdaInterrupt) {
EXPECT_EQ(counter, 1);
}
TEST_F(SchedulerTest, RegisterSubsystem) {
CommandScheduler scheduler = GetScheduler();
int counter = 0;
TestSubsystem system{[&counter] { counter++; }};
EXPECT_NO_FATAL_FAILURE(scheduler.RegisterSubsystem(&system));
scheduler.Run();
EXPECT_EQ(counter, 1);
}
TEST_F(SchedulerTest, UnregisterSubsystem) {
CommandScheduler scheduler = GetScheduler();
TestSubsystem system;
int counter = 0;
TestSubsystem system{[&counter] { counter++; }};
scheduler.RegisterSubsystem(&system);
EXPECT_NO_FATAL_FAILURE(scheduler.UnregisterSubsystem(&system));
scheduler.Run();
ASSERT_EQ(counter, 0);
}
TEST_F(SchedulerTest, SchedulerCancelAll) {