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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
82 lines
2.5 KiB
C++
82 lines
2.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "CommandTestBase.h"
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#include "frc2/command/CommandScheduler.h"
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#include "frc2/command/ConditionalCommand.h"
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#include "frc2/command/InstantCommand.h"
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#include "frc2/command/ParallelCommandGroup.h"
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#include "frc2/command/ParallelDeadlineGroup.h"
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#include "frc2/command/ParallelRaceGroup.h"
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#include "frc2/command/SelectCommand.h"
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#include "frc2/command/SequentialCommandGroup.h"
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using namespace frc2;
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class CommandRequirementsTest : public CommandTestBase {};
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TEST_F(CommandRequirementsTest, RequirementInterruptTest) {
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CommandScheduler scheduler = GetScheduler();
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TestSubsystem requirement;
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MockCommand command1({&requirement});
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MockCommand command2({&requirement});
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EXPECT_CALL(command1, Initialize());
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EXPECT_CALL(command1, Execute());
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EXPECT_CALL(command1, End(true));
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EXPECT_CALL(command1, End(false)).Times(0);
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EXPECT_CALL(command2, Initialize());
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EXPECT_CALL(command2, Execute());
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EXPECT_CALL(command2, End(true)).Times(0);
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EXPECT_CALL(command2, End(false)).Times(0);
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scheduler.Schedule(&command1);
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scheduler.Run();
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EXPECT_TRUE(scheduler.IsScheduled(&command1));
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scheduler.Schedule(&command2);
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EXPECT_FALSE(scheduler.IsScheduled(&command1));
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EXPECT_TRUE(scheduler.IsScheduled(&command2));
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scheduler.Run();
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}
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TEST_F(CommandRequirementsTest, RequirementUninterruptibleTest) {
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CommandScheduler scheduler = GetScheduler();
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TestSubsystem requirement;
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MockCommand command1({&requirement});
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MockCommand command2({&requirement});
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EXPECT_CALL(command1, Initialize());
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EXPECT_CALL(command1, Execute()).Times(2);
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EXPECT_CALL(command1, End(true)).Times(0);
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EXPECT_CALL(command1, End(false)).Times(0);
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EXPECT_CALL(command2, Initialize()).Times(0);
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EXPECT_CALL(command2, Execute()).Times(0);
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EXPECT_CALL(command2, End(true)).Times(0);
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EXPECT_CALL(command2, End(false)).Times(0);
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scheduler.Schedule(false, &command1);
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scheduler.Run();
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EXPECT_TRUE(scheduler.IsScheduled(&command1));
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scheduler.Schedule(&command2);
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EXPECT_TRUE(scheduler.IsScheduled(&command1));
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EXPECT_FALSE(scheduler.IsScheduled(&command2));
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scheduler.Run();
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}
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TEST_F(CommandRequirementsTest, DefaultCommandRequirementErrorTest) {
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TestSubsystem requirement1;
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ErrorConfirmer confirmer("require");
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MockCommand command1;
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requirement1.SetDefaultCommand(std::move(command1));
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EXPECT_TRUE(requirement1.GetDefaultCommand() == NULL);
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}
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