Add c++ tests and java tests

wpilibsuite · Nov 18, 2024 · 9580f02 · 9580f02
1 parent d3e91c5
commit 9580f02
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diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -270,6 +270,58 @@ void deadlineForOrderTest() {
       assertAll(() -> assertTrue(dictatorHasRun.get()), () -> assertTrue(dictatorWasPolled.get()));
     }
   }
+
+  @Test
+  void withDeadlineTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      AtomicBoolean finish = new AtomicBoolean(false);
+      Command endsBeforeGroup = Commands.none().withDeadline(
+          Commands.waitUntil(finish::get)
+      );
+      Command endsAfterGroup = Commands.idle().withDeadline(
+          Commands.waitUntil(finish::get)
+      );
+      scheduler.schedule(endsBeforeGroup);
+      scheduler.run();
+      assertTrue(scheduler.isScheduled(endsBeforeGroup));
+      finish.set(true);
+      scheduler.run();
+      assertFalse(scheduler.isScheduled(endsBeforeGroup));
+      finish.set(false);
+      scheduler.schedule(endsAfterGroup);
+      scheduler.run();
+      assertTrue(scheduler.isScheduled(endsAfterGroup));
+      finish.set(true);
+      scheduler.run();
+      assertFalse(scheduler.isScheduled(endsAfterGroup));
+    }
+  }
+  @Test
+  void withDeadlineOrderTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      AtomicBoolean dictatorHasRun = new AtomicBoolean(false);
+      AtomicBoolean dictatorWasPolled = new AtomicBoolean(false);
+      Command dictator =
+          new FunctionalCommand(
+              () -> {},
+              () -> dictatorHasRun.set(true),
+              interrupted -> {},
+              () -> {
+                dictatorWasPolled.set(true);
+                return true;
+              });
+      Command other =
+          Commands.run(
+              () ->
+                  assertAll(
+                      () -> assertTrue(dictatorHasRun.get()),
+                      () -> assertTrue(dictatorWasPolled.get())));
+      Command group = other.withDeadline(dictator);
+      scheduler.schedule(group);
+      scheduler.run();
+      assertAll(() -> assertTrue(dictatorHasRun.get()), () -> assertTrue(dictatorWasPolled.get()));
+    }
+  }
 
   @Test
   void alongWithTest() {

diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -221,6 +221,27 @@ TEST_F(CommandDecoratorTest, DeadlineFor) {
   EXPECT_FALSE(scheduler.IsScheduled(group));
 }
 
+TEST_F(CommandDecoratorTest, WithDeadline) {
+  CommandScheduler scheduler = GetScheduler();
+
+  bool finish = false;
+
+  auto dictator = WaitUntilCommand([&finish] { return finish; });
+  auto endsAfter = WaitUntilCommand([] { return false; });
+
+  auto group = std::move(endsAfter).WithDeadline(std::move(dictator).ToPtr());
+
+  scheduler.Schedule(group);
+  scheduler.Run();
+
+  EXPECT_TRUE(scheduler.IsScheduled(group));
+
+  finish = true;
+  scheduler.Run();
+
+  EXPECT_FALSE(scheduler.IsScheduled(group));
+}
+
 TEST_F(CommandDecoratorTest, AlongWith) {
   CommandScheduler scheduler = GetScheduler();
 
@@ -283,6 +304,33 @@ TEST_F(CommandDecoratorTest, DeadlineForOrder) {
   EXPECT_TRUE(dictatorWasPolled);
 }
 
+TEST_F(CommandDecoratorTest, WithDeadlineOrder) {
+  CommandScheduler scheduler = GetScheduler();
+
+  bool dictatorHasRun = false;
+  bool dictatorWasPolled = false;
+
+  auto dictator =
+      FunctionalCommand([] {}, [&dictatorHasRun] { dictatorHasRun = true; },
+                        [](bool interrupted) {},
+                        [&dictatorWasPolled] {
+                          dictatorWasPolled = true;
+                          return true;
+                        });
+  auto other = RunCommand([&dictatorHasRun, &dictatorWasPolled] {
+    EXPECT_TRUE(dictatorHasRun);
+    EXPECT_TRUE(dictatorWasPolled);
+  });
+
+  auto group = std::move(other).WithDeadline(std::move(dictator).ToPtr());
+
+  scheduler.Schedule(group);
+  scheduler.Run();
+
+  EXPECT_TRUE(dictatorHasRun);
+  EXPECT_TRUE(dictatorWasPolled);
+}
+
 TEST_F(CommandDecoratorTest, AlongWithOrder) {
   CommandScheduler scheduler = GetScheduler();