public void TestParallelCommandGroupWithTwoCommands()
{
MockCommand command1 = new MockCommand();
MockCommand command2 = new MockCommand();
CommandGroup commandGroup = new 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.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, 1, 1, 1, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 2, 2, 0, 0);
AssertCommandState(command2, 1, 2, 2, 0, 0);
command1.SetHasFinished(true);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 3, 3, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 4, 4, 0, 0);
command2.SetHasFinished(true);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 3, 3, 1, 0);
AssertCommandState(command2, 1, 5, 5, 1, 0);
}
public void TestThreeCommandOnSubSystem()
{
ASubsystem subsystem = new ASubsystem();
MockCommand command1 = new MockCommand();
command1.AddRequires(subsystem);
MockCommand command2 = new MockCommand();
command2.AddRequires(subsystem);
MockCommand command3 = new MockCommand();
command3.AddRequires(subsystem);
CommandGroup commandGroup = new 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.Instance.Run();
AssertCommandState(command1, 0, 0, 0, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 0);
AssertCommandState(command2, 0, 0, 0, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Sleep(1000);// Command 1 timeout
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 1, 1, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 0);
AssertCommandState(command3, 0, 0, 0, 0, 0);
Sleep(2000);// Command 2 timeout
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 1, 1, 0, 0);
Scheduler.Instance.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.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 3, 3, 1, 0);
Scheduler.Instance.Run();
AssertCommandState(command1, 1, 1, 1, 0, 1);
AssertCommandState(command2, 1, 2, 2, 0, 1);
AssertCommandState(command3, 1, 3, 3, 1, 0);
}