mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
60e29627c0
Add a CommandPtr with an internal unique_ptr to enable not needing to move the underlying classes, which is error-prone due to the potential for lambda captures.
92 lines
2.9 KiB
C++
92 lines
2.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include <frc/Errors.h>
|
|
|
|
#include "CommandTestBase.h"
|
|
#include "frc2/command/CommandScheduler.h"
|
|
#include "frc2/command/ConditionalCommand.h"
|
|
#include "frc2/command/FunctionalCommand.h"
|
|
#include "frc2/command/InstantCommand.h"
|
|
#include "frc2/command/ParallelCommandGroup.h"
|
|
#include "frc2/command/ParallelDeadlineGroup.h"
|
|
#include "frc2/command/ParallelRaceGroup.h"
|
|
#include "frc2/command/SelectCommand.h"
|
|
#include "frc2/command/SequentialCommandGroup.h"
|
|
|
|
using namespace frc2;
|
|
class CommandRequirementsTest : public CommandTestBase {};
|
|
|
|
TEST_F(CommandRequirementsTest, RequirementInterrupt) {
|
|
CommandScheduler scheduler = GetScheduler();
|
|
|
|
TestSubsystem requirement;
|
|
|
|
MockCommand command1({&requirement});
|
|
MockCommand command2({&requirement});
|
|
|
|
EXPECT_CALL(command1, Initialize());
|
|
EXPECT_CALL(command1, Execute());
|
|
EXPECT_CALL(command1, End(true));
|
|
EXPECT_CALL(command1, End(false)).Times(0);
|
|
|
|
EXPECT_CALL(command2, Initialize());
|
|
EXPECT_CALL(command2, Execute());
|
|
EXPECT_CALL(command2, End(true)).Times(0);
|
|
EXPECT_CALL(command2, End(false)).Times(0);
|
|
|
|
scheduler.Schedule(&command1);
|
|
scheduler.Run();
|
|
EXPECT_TRUE(scheduler.IsScheduled(&command1));
|
|
scheduler.Schedule(&command2);
|
|
EXPECT_FALSE(scheduler.IsScheduled(&command1));
|
|
EXPECT_TRUE(scheduler.IsScheduled(&command2));
|
|
scheduler.Run();
|
|
}
|
|
|
|
TEST_F(CommandRequirementsTest, RequirementUninterruptible) {
|
|
CommandScheduler scheduler = GetScheduler();
|
|
|
|
TestSubsystem requirement;
|
|
|
|
int initCounter = 0;
|
|
int exeCounter = 0;
|
|
int endCounter = 0;
|
|
|
|
CommandPtr command1 =
|
|
FunctionalCommand([&initCounter] { initCounter++; },
|
|
[&exeCounter] { exeCounter++; },
|
|
[&endCounter](bool interruptible) { endCounter++; },
|
|
[] { return false; }, {&requirement})
|
|
.WithInterruptBehavior(
|
|
Command::InterruptionBehavior::kCancelIncoming);
|
|
MockCommand command2({&requirement});
|
|
|
|
EXPECT_CALL(command2, Initialize()).Times(0);
|
|
EXPECT_CALL(command2, Execute()).Times(0);
|
|
EXPECT_CALL(command2, End(true)).Times(0);
|
|
EXPECT_CALL(command2, End(false)).Times(0);
|
|
|
|
scheduler.Schedule(command1);
|
|
EXPECT_EQ(1, initCounter);
|
|
scheduler.Run();
|
|
EXPECT_EQ(1, exeCounter);
|
|
EXPECT_TRUE(scheduler.IsScheduled(command1));
|
|
scheduler.Schedule(&command2);
|
|
EXPECT_TRUE(scheduler.IsScheduled(command1));
|
|
EXPECT_FALSE(scheduler.IsScheduled(&command2));
|
|
scheduler.Run();
|
|
EXPECT_EQ(2, exeCounter);
|
|
EXPECT_EQ(0, endCounter);
|
|
}
|
|
|
|
TEST_F(CommandRequirementsTest, DefaultCommandRequirementError) {
|
|
TestSubsystem requirement1;
|
|
|
|
MockCommand command1;
|
|
|
|
ASSERT_THROW(requirement1.SetDefaultCommand(std::move(command1)),
|
|
frc::RuntimeError);
|
|
}
|