C++ (Cpp) CommandGroup::Start 예제들

예제 #1

파일: CommandTest.cpp 프로젝트: Talos4757/allwpilib

// 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();
}

예제 #2

파일: Robot.cpp 프로젝트: frc1334/Robot-Templates

	void AutonomousInit()
	{
		if (autonomousCommand != NULL)
			autonomousCommand->Start();
	}

예제 #3

파일: CommandTest.cpp 프로젝트: Talos4757/allwpilib

// 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();
}