mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
227c89ab23
Project import generated by Copybara.
GitOrigin-RevId: fd000778e9b78c72cc7ca7b2ebe476129b78c6e0
477 lines
9.1 KiB
Python
477 lines
9.1 KiB
Python
from wpilib import BooleanEvent, EventLoop
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def test_binary_compositions():
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loop = EventLoop()
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and_counter = {"value": 0}
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or_counter = {"value": 0}
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def inc_and():
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and_counter["value"] += 1
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def inc_or():
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or_counter["value"] += 1
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assert and_counter["value"] == 0
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assert or_counter["value"] == 0
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BooleanEvent(loop, lambda: True).and_(lambda: False).ifHigh(inc_and)
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BooleanEvent(loop, lambda: True).or_(lambda: False).ifHigh(inc_or)
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loop.poll()
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assert and_counter["value"] == 0
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assert or_counter["value"] == 1
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def test_binary_compositions_with_edge_decorators():
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loop = EventLoop()
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bool1 = {"value": False}
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bool2 = {"value": False}
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bool3 = {"value": False}
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bool4 = {"value": False}
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counter = {"value": 0}
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def inc():
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counter["value"] += 1
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event1 = BooleanEvent(loop, lambda: bool1["value"]).rising()
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event2 = BooleanEvent(loop, lambda: bool2["value"]).rising()
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event3 = BooleanEvent(loop, lambda: bool3["value"]).rising()
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event4 = BooleanEvent(loop, lambda: bool4["value"]).rising()
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event1.and_(event2).ifHigh(inc)
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event3.or_(event4).ifHigh(inc)
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assert counter["value"] == 0
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bool1["value"] = True
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bool2["value"] = True
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bool3["value"] = True
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bool4["value"] = True
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loop.poll()
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assert counter["value"] == 2
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loop.poll()
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assert counter["value"] == 2
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bool1["value"] = False
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bool2["value"] = False
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bool3["value"] = False
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bool4["value"] = False
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loop.poll()
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assert counter["value"] == 2
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bool1["value"] = True
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loop.poll()
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assert counter["value"] == 2
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bool2["value"] = True
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loop.poll()
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assert counter["value"] == 2
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bool1["value"] = False
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bool2["value"] = False
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loop.poll()
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assert counter["value"] == 2
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bool1["value"] = True
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bool2["value"] = True
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loop.poll()
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assert counter["value"] == 3
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bool3["value"] = True
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loop.poll()
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assert counter["value"] == 4
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loop.poll()
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assert counter["value"] == 4
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bool4["value"] = True
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loop.poll()
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assert counter["value"] == 5
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loop.poll()
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assert counter["value"] == 5
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def test_binary_composition_loop_semantics():
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loop1 = EventLoop()
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loop2 = EventLoop()
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bool1 = {"value": True}
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bool2 = {"value": True}
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counter1 = {"value": 0}
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counter2 = {"value": 0}
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def inc1():
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counter1["value"] += 1
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def inc2():
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counter2["value"] += 1
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BooleanEvent(loop1, lambda: bool1["value"]).and_(
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BooleanEvent(loop2, lambda: bool2["value"])
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).ifHigh(inc1)
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BooleanEvent(loop2, lambda: bool2["value"]).and_(
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BooleanEvent(loop1, lambda: bool1["value"])
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).ifHigh(inc2)
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assert counter1["value"] == 0
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assert counter2["value"] == 0
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loop1.poll()
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assert counter1["value"] == 1
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assert counter2["value"] == 0
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loop2.poll()
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assert counter1["value"] == 1
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assert counter2["value"] == 1
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bool2["value"] = False
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loop1.poll()
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assert counter1["value"] == 2
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assert counter2["value"] == 1
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loop2.poll()
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assert counter1["value"] == 2
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assert counter2["value"] == 1
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loop1.poll()
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assert counter1["value"] == 2
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assert counter2["value"] == 1
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bool2["value"] = True
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loop2.poll()
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assert counter1["value"] == 2
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assert counter2["value"] == 2
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loop1.poll()
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assert counter1["value"] == 3
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assert counter2["value"] == 2
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bool1["value"] = False
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loop2.poll()
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assert counter1["value"] == 3
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assert counter2["value"] == 3
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loop1.poll()
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assert counter1["value"] == 3
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assert counter2["value"] == 3
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loop2.poll()
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assert counter1["value"] == 3
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assert counter2["value"] == 3
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def test_poll_ordering():
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loop = EventLoop()
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bool1 = {"value": True}
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bool2 = {"value": True}
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enable_assert = {"value": False}
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counter = {"value": 0}
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def action1():
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if enable_assert["value"]:
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counter["value"] += 1
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assert counter["value"] % 3 == 1
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return bool1["value"]
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def action2():
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if enable_assert["value"]:
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counter["value"] += 1
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assert counter["value"] % 3 == 2
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return bool2["value"]
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def action3():
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if enable_assert["value"]:
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counter["value"] += 1
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assert counter["value"] % 3 == 0
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BooleanEvent(loop, action1).and_(BooleanEvent(loop, action2)).ifHigh(action3)
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enable_assert["value"] = True
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loop.poll()
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loop.poll()
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loop.poll()
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loop.poll()
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def test_edge_decorators():
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loop = EventLoop()
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flag = {"value": False}
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counter = {"value": 0}
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def inc():
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counter["value"] += 1
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def dec():
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counter["value"] -= 1
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BooleanEvent(loop, lambda: flag["value"]).falling().ifHigh(dec)
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BooleanEvent(loop, lambda: flag["value"]).rising().ifHigh(inc)
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assert counter["value"] == 0
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flag["value"] = False
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loop.poll()
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assert counter["value"] == 0
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 1
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 1
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flag["value"] = False
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loop.poll()
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assert counter["value"] == 0
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def test_edge_reuse():
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loop = EventLoop()
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flag = {"value": False}
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counter = {"value": 0}
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def inc():
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counter["value"] += 1
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event = BooleanEvent(loop, lambda: flag["value"]).rising()
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event.ifHigh(inc)
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event.ifHigh(inc)
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assert counter["value"] == 0
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loop.poll()
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assert counter["value"] == 0
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 2
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loop.poll()
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assert counter["value"] == 2
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flag["value"] = False
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loop.poll()
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assert counter["value"] == 2
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 4
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def test_edge_reconstruct():
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loop = EventLoop()
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flag = {"value": False}
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counter = {"value": 0}
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def inc():
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counter["value"] += 1
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event = BooleanEvent(loop, lambda: flag["value"])
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event.rising().ifHigh(inc)
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event.rising().ifHigh(inc)
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assert counter["value"] == 0
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loop.poll()
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assert counter["value"] == 0
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 2
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loop.poll()
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assert counter["value"] == 2
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flag["value"] = False
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loop.poll()
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assert counter["value"] == 2
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 4
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def test_mid_loop_boolean_change():
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loop = EventLoop()
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flag = {"value": False}
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counter = {"value": 0}
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def inc():
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counter["value"] += 1
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event = BooleanEvent(loop, lambda: flag["value"]).rising()
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def first_action():
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flag["value"] = False
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counter["value"] += 1
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event.ifHigh(first_action)
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event.ifHigh(inc)
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assert counter["value"] == 0
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loop.poll()
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assert counter["value"] == 0
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 2
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loop.poll()
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assert counter["value"] == 2
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flag["value"] = False
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loop.poll()
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assert counter["value"] == 2
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 4
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def test_mid_loop_boolean_change_with_composed_events():
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loop = EventLoop()
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bool1 = {"value": False}
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bool2 = {"value": False}
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bool3 = {"value": False}
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bool4 = {"value": False}
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counter = {"value": 0}
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def inc():
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counter["value"] += 1
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event1 = BooleanEvent(loop, lambda: bool1["value"])
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event2 = BooleanEvent(loop, lambda: bool2["value"])
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event3 = BooleanEvent(loop, lambda: bool3["value"])
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event4 = BooleanEvent(loop, lambda: bool4["value"])
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def action1():
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bool2["value"] = False
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bool3["value"] = False
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counter["value"] += 1
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event1.ifHigh(action1)
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def action2():
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bool1["value"] = False
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counter["value"] += 1
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event3.or_(event4).ifHigh(action2)
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def action3():
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bool4["value"] = False
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counter["value"] += 1
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event1.and_(event2).ifHigh(action3)
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assert counter["value"] == 0
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bool1["value"] = True
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bool2["value"] = True
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bool3["value"] = True
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bool4["value"] = True
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loop.poll()
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assert counter["value"] == 3
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loop.poll()
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assert counter["value"] == 3
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bool1["value"] = True
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bool2["value"] = True
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loop.poll()
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assert counter["value"] == 5
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bool1["value"] = False
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loop.poll()
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assert counter["value"] == 5
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bool1["value"] = True
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bool3["value"] = True
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loop.poll()
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assert counter["value"] == 7
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bool1["value"] = False
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bool4["value"] = True
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loop.poll()
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assert counter["value"] == 8
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def test_negation():
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loop = EventLoop()
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flag = {"value": False}
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counter = {"value": 0}
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def inc():
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counter["value"] += 1
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BooleanEvent(loop, lambda: flag["value"]).negate().ifHigh(inc)
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assert counter["value"] == 0
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loop.poll()
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assert counter["value"] == 1
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 1
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flag["value"] = False
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loop.poll()
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assert counter["value"] == 2
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flag["value"] = True
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loop.poll()
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assert counter["value"] == 2
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