mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
442 lines
15 KiB
C++
442 lines
15 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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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class CommandTest : public testing::Test {
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protected:
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virtual 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, int initialize, int execute,
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int isFinished, int end, int 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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ASubsystem(const std::string &name) : Subsystem(name) {}
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virtual 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();
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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.Cancel();
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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, 2, 2, 0, 1);
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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, 2, 2, 0, 1);
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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, 2, 2, 0, 1);
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TeardownScheduler();
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}
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