Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibcIntegrationTests/src/command/ConditionalCommandTest.cpp b/wpilibcIntegrationTests/src/command/ConditionalCommandTest.cpp
new file mode 100644
index 0000000..271131d
--- /dev/null
+++ b/wpilibcIntegrationTests/src/command/ConditionalCommandTest.cpp
@@ -0,0 +1,100 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <DriverStation.h>
+#include <RobotState.h>
+
+#include "Commands/ConditionalCommand.h"
+#include "Commands/Scheduler.h"
+#include "command/MockCommand.h"
+#include "command/MockConditionalCommand.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class ConditionalCommandTest : public testing::Test {
+ public:
+ MockConditionalCommand* m_command;
+ MockCommand* m_onTrue;
+ MockCommand* m_onFalse;
+
+ protected:
+ void SetUp() override {
+ RobotState::SetImplementation(DriverStation::GetInstance());
+ Scheduler::GetInstance()->SetEnabled(true);
+
+ m_onTrue = new MockCommand();
+ m_onFalse = new MockCommand();
+ m_command = new MockConditionalCommand(m_onTrue, m_onFalse);
+ }
+
+ void TearDown() override { delete m_command; }
+
+ /**
+ * Tears Down the Scheduler at the end of each test.
+ *
+ * Must be called at the end of each test inside each test in order to prevent
+ * them being deallocated when they leave the scope of the test (causing a
+ * segfault). This cannot be done within the virtual void Teardown() method
+ * because it is called outside of the scope of the test.
+ */
+ void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); }
+
+ void AssertCommandState(MockCommand& command, int32_t initialize,
+ int32_t execute, int32_t isFinished, int32_t end,
+ int32_t interrupted) {
+ EXPECT_EQ(initialize, command.GetInitializeCount());
+ EXPECT_EQ(execute, command.GetExecuteCount());
+ EXPECT_EQ(isFinished, command.GetIsFinishedCount());
+ EXPECT_EQ(end, command.GetEndCount());
+ EXPECT_EQ(interrupted, command.GetInterruptedCount());
+ }
+};
+
+TEST_F(ConditionalCommandTest, OnTrueTest) {
+ m_command->SetCondition(true);
+
+ Scheduler::GetInstance()->AddCommand(m_command);
+ AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
+ Scheduler::GetInstance()->Run(); // init command and select m_onTrue
+ AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
+ Scheduler::GetInstance()->Run(); // init m_onTrue
+ AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
+ Scheduler::GetInstance()->Run();
+ AssertCommandState(*m_onTrue, 1, 1, 2, 0, 0);
+ Scheduler::GetInstance()->Run();
+ AssertCommandState(*m_onTrue, 1, 2, 4, 0, 0);
+
+ EXPECT_TRUE(m_onTrue->GetInitializeCount() > 0)
+ << "Did not initialize the true command\n";
+ EXPECT_TRUE(m_onFalse->GetInitializeCount() == 0)
+ << "Initialized the false command\n";
+
+ TeardownScheduler();
+}
+
+TEST_F(ConditionalCommandTest, OnFalseTest) {
+ m_command->SetCondition(false);
+
+ Scheduler::GetInstance()->AddCommand(m_command);
+ AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
+ Scheduler::GetInstance()->Run(); // init command and select m_onTrue
+ AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
+ Scheduler::GetInstance()->Run(); // init m_onTrue
+ AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
+ Scheduler::GetInstance()->Run();
+ AssertCommandState(*m_onFalse, 1, 1, 2, 0, 0);
+ Scheduler::GetInstance()->Run();
+ AssertCommandState(*m_onFalse, 1, 2, 4, 0, 0);
+
+ EXPECT_TRUE(m_onFalse->GetInitializeCount() > 0)
+ << "Did not initialize the false command";
+ EXPECT_TRUE(m_onTrue->GetInitializeCount() == 0)
+ << "Initialized the true command";
+
+ TeardownScheduler();
+}