//CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies){
ASubsystem* subsystem = new ASubsystem("Command Superseding Test Subsystem");
MockCommand command1;
command1.Requires(subsystem);
MockCommand command2;
command2.Requires(subsystem);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
command1.Start();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
command2.Start();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 1, 1, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 3, 3, 0, 0);
TeardownScheduler();
}
TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled) {
ASubsystem subsystem("Default Command Test Subsystem");
MockCommand defaultCommand;
defaultCommand.Requires(&subsystem);
MockCommand anotherCommand;
anotherCommand.Requires(&subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(&defaultCommand);
subsystem.InitDefaultCommand();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
anotherCommand.Start();
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
anotherCommand.Cancel();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
TeardownScheduler();
}
TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself) {
ASubsystem subsystem("Default Command Test Subsystem");
MockCommand defaultCommand;
defaultCommand.Requires(&subsystem);
MockCommand anotherCommand;
anotherCommand.Requires(&subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(&defaultCommand);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
anotherCommand.Start();
AssertCommandState(defaultCommand, 1, 2, 2, 0, 0);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
anotherCommand.SetHasFinished(true);
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
Scheduler::GetInstance().Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
TeardownScheduler();
}
TEST_F(CommandTest, OneCommandFailingSupersedingBecauseFirstCanNotBeInterrupted){
ASubsystem subsystem("Command Superseding Test Subsystem");
MockCommand command1;
command1.Requires(&subsystem);
command1.SetInterruptible(false);
MockCommand command2;
command2.Requires(&subsystem);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
command1.Start();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
command2.Start();
AssertCommandState(command1, 1, 3, 3, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(command1, 1, 4, 4, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
TeardownScheduler();
}
// CommandScheduleTest ported from CommandScheduleTest.java
TEST_F(CommandTest, RunAndTerminate) {
MockCommand command;
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
command.SetHasFinished(true);
AssertCommandState(command, 1, 2, 2, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
TeardownScheduler();
}
TEST_F(CommandTest, RunAndCancel) {
MockCommand command;
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 3, 3, 0, 0);
command.Cancel();
AssertCommandState(command, 1, 3, 3, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
TeardownScheduler();
}
TEST_F(CommandTest, TwoSecondTimeout) {
ASubsystem subsystem("Two Second Timeout Test Subsystem");
ModifiedMockCommand command;
command.Requires(&subsystem);
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 3, 3, 0, 0);
Wait(2);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 4, 4, 1, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command, 1, 4, 4, 1, 0);
TeardownScheduler();
}
// CommandParallelGroupTest ported from CommandParallelGroupTest.java
TEST_F(CommandTest, ParallelCommands) {
MockCommand command1;
MockCommand command2;
CommandGroup commandGroup;
commandGroup.AddParallel(&command1);
commandGroup.AddParallel(&command2);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
commandGroup.Start();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 1, 2, 2, 0, 0);
command1.SetHasFinished(true);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 3, 3, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 4, 4, 0, 0);
command2.SetHasFinished(true);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 5, 5, 1, 0);
TeardownScheduler();
}
// CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
TEST_F(CommandTest, ThreeCommandOnSubSystem) {
ASubsystem subsystem("Three Command Test Subsystem");
MockCommand command1;
command1.Requires(&subsystem);
MockCommand command2;
command2.Requires(&subsystem);
MockCommand command3;
command3.Requires(&subsystem);
CommandGroup commandGroup;
commandGroup.AddSequential(&command1, 1.0);
commandGroup.AddSequential(&command2, 2.0);
commandGroup.AddSequential(&command3);
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
commandGroup.Start();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Wait(1); // command 1 timeout
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 1, 1, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Wait(2); // command 2 timeout
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 1, 1, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 2, 2, 0, 0);
command3.SetHasFinished(true);
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 2, 2, 0, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 3, 3, 1, 0);
Scheduler::GetInstance().Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 3, 3, 1, 0);
TeardownScheduler();
}
