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https://github.com/wpilibsuite/allwpilib
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509819d83f
This will allow us at the user code side to determine to include old commands, new commands or both.
63 lines
2.2 KiB
C++
63 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. 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 "CommandTestBase.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/SelectCommand.h"
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using namespace frc2;
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class SelectCommandTest : public CommandTestBase {};
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TEST_F(SelectCommandTest, SelectCommandTest) {
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CommandScheduler scheduler = GetScheduler();
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std::unique_ptr<MockCommand> mock = std::make_unique<MockCommand>();
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MockCommand* mockptr = mock.get();
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EXPECT_CALL(*mock, Initialize());
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EXPECT_CALL(*mock, Execute()).Times(2);
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EXPECT_CALL(*mock, End(false));
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std::vector<std::pair<int, std::unique_ptr<Command>>> temp;
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temp.emplace_back(std::pair(1, std::move(mock)));
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temp.emplace_back(std::pair(2, std::make_unique<InstantCommand>()));
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temp.emplace_back(std::pair(3, std::make_unique<InstantCommand>()));
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SelectCommand<int> select([] { return 1; }, std::move(temp));
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scheduler.Schedule(&select);
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scheduler.Run();
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mockptr->SetFinished(true);
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scheduler.Run();
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EXPECT_FALSE(scheduler.IsScheduled(&select));
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}
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TEST_F(SelectCommandTest, SelectCommandRequirementTest) {
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CommandScheduler scheduler = GetScheduler();
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TestSubsystem requirement1;
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TestSubsystem requirement2;
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TestSubsystem requirement3;
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TestSubsystem requirement4;
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InstantCommand command1([] {}, {&requirement1, &requirement2});
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InstantCommand command2([] {}, {&requirement3});
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InstantCommand command3([] {}, {&requirement3, &requirement4});
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SelectCommand<int> select([] { return 1; }, std::pair(1, std::move(command1)),
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std::pair(2, std::move(command2)));
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scheduler.Schedule(&select);
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scheduler.Schedule(&command3);
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EXPECT_TRUE(scheduler.IsScheduled(&command3));
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EXPECT_FALSE(scheduler.IsScheduled(&select));
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}
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