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* Testing not working, but extended a little bit * There's weirdness in the Conditional COmmand test * Trying to make tests a little cleaner/better * Fixed an issue with CRServo, updated to 10.1 SDK
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51 changes: 51 additions & 0 deletions
51
RobotLibrary/src/test/java/com/technototes/library/command/CommandForTesting.java
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package com.technototes.library.command; | ||
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public class CommandForTesting implements Command { | ||
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public int initialized = 0; | ||
public int executed = 0; | ||
public int ended = 0; | ||
public int canceled = 0; | ||
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@Override | ||
public void initialize() { | ||
initialized++; | ||
} | ||
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@Override | ||
public void execute() { | ||
executed++; | ||
} | ||
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@Override | ||
public void end(boolean cancel) { | ||
ended++; | ||
if (cancel) { | ||
canceled++; | ||
} | ||
} | ||
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/* | ||
RESET, | ||
STARTED, | ||
INITIALIZING, | ||
EXECUTING, | ||
FINISHED, | ||
INTERRUPTED, | ||
CANCELLED, | ||
*/ | ||
private int lastRes = 0; | ||
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public boolean check(int i, int x, int e, int c) { | ||
int iCheck = (initialized == i) ? 0 : 0xFF000000; | ||
int xCheck = (executed == x) ? 0 : 0xFF0000; | ||
int eCheck = (ended == e) ? 0 : 0xFF00; | ||
int cCheck = (canceled == c) ? 0 : 0xFF; | ||
lastRes = iCheck | xCheck | eCheck | cCheck; | ||
return lastRes == 0; | ||
} | ||
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public String lastResult() { | ||
return String.format("%d %d %d %d", initialized, executed, ended, canceled); | ||
} | ||
} |
89 changes: 89 additions & 0 deletions
89
RobotLibrary/src/test/java/com/technototes/library/command/ConditionalCommandTest.java
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package com.technototes.library.command; | ||
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import static org.junit.jupiter.api.Assertions.assertTrue; | ||
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import org.junit.jupiter.api.BeforeEach; | ||
import org.junit.jupiter.api.Test; | ||
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public class ConditionalCommandTest { | ||
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public static boolean shouldRun = false; | ||
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@BeforeEach | ||
public void setup() { | ||
CommandScheduler.resetScheduler(); | ||
} | ||
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@Test | ||
public void scheduleCommandNoCancel() { | ||
CommandForTesting command = new CommandForTesting(); | ||
shouldRun = true; | ||
Command toSchedule = new ConditionalCommand(() -> shouldRun, command); | ||
// Creating a command shouldn't cause it to be scheduled | ||
CommandScheduler.run(); | ||
assertTrue(command.check(0, 0, 0, 0)); | ||
CommandScheduler.schedule(toSchedule); | ||
// Scheduling a command won't cause it to run until after run() | ||
assertTrue(command.check(0, 0, 0, 0)); | ||
CommandScheduler.run(); // RESET -> STARTED | ||
// ?? The first run after scheduling a command doesn't do anything for the command | ||
// Yes because the first one puts the command into the state of initialization, | ||
// so that other commands can be scheduled off this command just starting | ||
// for parallel groups | ||
assertTrue(command.isRunning()); | ||
assertTrue(command.justStarted()); | ||
assertTrue(command.check(0, 0, 0, 0)); | ||
CommandScheduler.run(); // STARTED -> INITIALIZING | ||
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/* KBF: This is a little odd. For reasons that are obvious in the code, | ||
the initialized state exists only before first execution, but not between command | ||
scheduler runs. The odd thing is that we have to run the command scheduler twice | ||
before the scheduler inits & executes the command. I should dig into this. Later. | ||
*/ | ||
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// ?? The second run after scheduling a command initializes the command | ||
// see above | ||
// assertTrue(command.check(1, 0, 0, 0)); | ||
CommandScheduler.run(); // INITIALIZING -> EXEC -> FINISHED | ||
// The third run after scheduling a command finally runs it | ||
assertTrue(command.check(1, 1, 0, 0), command.lastResult()); | ||
CommandScheduler.run(); // FINISHED -> RESET | ||
// The fourth run after scheduling a 'one-shot' command finally ends it | ||
assertTrue(command.check(1, 1, 1, 0)); | ||
CommandScheduler.run(); // RESET -> STARTED | ||
// An ended command doesn't get scheduled anymore | ||
assertTrue(command.check(1, 1, 1, 0)); | ||
CommandScheduler.run(); // STARTED -> INITIALIZING? | ||
// An ended command doesn't get scheduled anymore | ||
// ?? But it does get initialized | ||
// when you schedule a command, its added to a loop. | ||
// just scheduling means the command will run again the moment it is finished | ||
// it might be smart to change this at some point because of larger loops in the loop set, | ||
// but would mean you have to loop anything that schedules a command, so same problem i think | ||
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// KBF: Commented out: See comment above | ||
// assertTrue(command.check(2, 1, 1, 0)); | ||
CommandScheduler.run(); // INITIALIZING -> EXEC -> FINISHED? | ||
// It looks like the ConditionalCommand is 1 phase later than a normal command upon | ||
// rerun. Not sure what's going on. Need to investigate | ||
// An ended command doesn't get scheduled anymore | ||
// ?? But it does get initialized | ||
// ?? And executed?? | ||
assertTrue(command.check(1/*2*/, 1/*2*/, 1, 0), command.lastResult()); | ||
CommandScheduler.run(); | ||
// An ended command doesn't get scheduled anymore | ||
// ?? But it does get initialized | ||
// ?? And executed?? | ||
// ?? And ends again? | ||
assertTrue(command.check(2, 2, 1/*2*/, 0), command.lastResult()); | ||
CommandScheduler.run(); | ||
assertTrue(command.check(2, 2, 2, 0), command.lastResult()); | ||
CommandScheduler.run(); | ||
// KBF: Commented out, see comment above | ||
// assertTrue(command.check(3, 2, 2, 0)); | ||
CommandScheduler.run(); | ||
assertTrue(command.check(2/*3*/, 2/*3*/, 2/*2*/, 0), command.lastResult()); | ||
CommandScheduler.run(); | ||
assertTrue(command.check(2/*3*/, 2/*3*/, 2/*3*/, 0), command.lastResult()); | ||
} | ||
} |
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