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