public void TestCommandFailingSupersedingBecauseFirstCannotBeInterrupted()
{
ASubsystem subsystem = new ASubsystem();
MockCommand command1 = new MockCommand("Num1");
command1.AddRequires(subsystem);
command1.SetInterruptable(false);
MockCommand command2 = new MockCommand("Num2");
command2.AddRequires(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.Instance.Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
}
public void TestDefaultCommandWhereTheInterruptingCommandEndsItself()
{
ASubsystem subsystem = new ASubsystem();
MockCommand defaultCommand = new MockCommand();
defaultCommand.AddRequires(subsystem);
MockCommand anotherCommand = new MockCommand();
anotherCommand.AddRequires(subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(defaultCommand);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
}
public void TestDefaultCommandInterruptingCommandCanceled()
{
ASubsystem subsystem = new ASubsystem();
MockCommand defaultCommand = new MockCommand();
defaultCommand.AddRequires(subsystem);
MockCommand anotherCommand = new MockCommand();
anotherCommand.AddRequires(subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(defaultCommand);
subsystem.PublicInitDefaultCommand();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
}
public void TestDefaultCommandWhereTheInterruptingCommandEndsItself()
{
ASubsystem subsystem = new ASubsystem();
MockCommand defaultCommand = new MockCommand();
defaultCommand.AddRequires(subsystem);
MockCommand anotherCommand = new MockCommand();
anotherCommand.AddRequires(subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(defaultCommand);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 3, 3, 1, 0);
}
public void TestDefaultCommandInterruptingCommandCanceled()
{
ASubsystem subsystem = new ASubsystem();
MockCommand defaultCommand = new MockCommand();
defaultCommand.AddRequires(subsystem);
MockCommand anotherCommand = new MockCommand();
anotherCommand.AddRequires(subsystem);
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.Init(defaultCommand);
subsystem.PublicInitDefaultCommand();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(defaultCommand, 1, 3, 3, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 4, 4, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
Scheduler.Instance.Run();
AssertCommandState(defaultCommand, 2, 5, 5, 0, 1);
AssertCommandState(anotherCommand, 1, 2, 2, 0, 1);
}
public void TestOneCommandSupersedingAnotherBecauseOfDependencies()
{
ASubsystem subsystem = new ASubsystem();
MockCommand command1 = new MockCommand("Num1");
command1.AddRequires(subsystem);
MockCommand command2 = new MockCommand("Num2");
command2.AddRequires(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.Instance.Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 1, 1, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 3, 3, 0, 0);
}
public void RunTestAndTerminate()
{
MockCommand command = new MockCommand();
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
command.SetHasFinished(true);
AssertCommandState(command, 1, 2, 2, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
}
public void TestOneCommandSupersedingAnotherBecauseOfDependencies()
{
ASubsystem subsystem = new ASubsystem();
MockCommand command1 = new MockCommand("Num1");
command1.AddRequires(subsystem);
MockCommand command2 = new MockCommand("Num2");
command2.AddRequires(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.Instance.Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 1, 1, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 1);
AssertCommandState(command2, 1, 3, 3, 0, 0);
}
public void RunTestAndTerminate()
{
MockCommand command = new MockCommand();
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
command.SetHasFinished(true);
AssertCommandState(command, 1, 2, 2, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 1, 0);
}
public void TestRunAndCancel()
{
MockCommand command = new MockCommand();
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 0, 0);
command.Cancel();
AssertCommandState(command, 1, 3, 3, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
}
public void TestRunAndCancel()
{
MockCommand command = new MockCommand();
command.Start();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 1, 1, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 2, 2, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 0, 0);
command.Cancel();
AssertCommandState(command, 1, 3, 3, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
Scheduler.Instance.Run();
AssertCommandState(command, 1, 3, 3, 0, 1);
}
public void TestCommandFailingSupersedingBecauseFirstCannotBeInterrupted()
{
ASubsystem subsystem = new ASubsystem();
MockCommand command1 = new MockCommand("Num1");
command1.AddRequires(subsystem);
command1.SetInterruptable(false);
MockCommand command2 = new MockCommand("Num2");
command2.AddRequires(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.Instance.Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(command1, 1, 4, 4, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
}