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 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 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 Test() { MockCommand command1 = new MockCommand(); MockCommand command2 = new MockCommand(); MockCommand command3 = new MockCommand(); MockCommand command4 = new MockCommand(); button1.WhenPressed(command1); button1.WhenReleased(command2); button1.WhileHeld(command3); button2.WhileHeld(command4); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); button1.SetPressed(true); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); AssertCommandState(command4, 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); AssertCommandState(command4, 0, 0, 0, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 1, 1, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 1, 1, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 2, 2, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 2, 2, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); button2.SetPressed(true); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 3, 3, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 3, 3, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 4, 4, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 0); AssertCommandState(command4, 1, 1, 1, 0, 0); button1.SetPressed(false); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 5, 5, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 2, 2, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 6, 6, 0, 0); AssertCommandState(command2, 1, 1, 1, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 0); button2.SetPressed(false); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 0); AssertCommandState(command2, 1, 2, 2, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); command1.Cancel(); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 1); AssertCommandState(command2, 1, 3, 3, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); command2.SetHasFinished(true); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 1); AssertCommandState(command2, 1, 4, 4, 1, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 1); AssertCommandState(command2, 1, 4, 4, 1, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); }
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); }
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); }
public void Test() { MockCommand command1 = new MockCommand(); MockCommand command2 = new MockCommand(); MockCommand command3 = new MockCommand(); MockCommand command4 = new MockCommand(); m_button1.WhenPressed(command1); m_button1.WhenReleased(command2); m_button1.WhileHeld(command3); m_button2.WhileHeld(command4); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); m_button1.SetPressed(true); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); AssertCommandState(command4, 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); AssertCommandState(command4, 0, 0, 0, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 1, 1, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 1, 1, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 2, 2, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 2, 2, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); m_button2.SetPressed(true); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 3, 3, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 3, 3, 0, 0); AssertCommandState(command4, 0, 0, 0, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 4, 4, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 0); AssertCommandState(command4, 1, 1, 1, 0, 0); m_button1.SetPressed(false); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 5, 5, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 2, 2, 0, 0); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 6, 6, 0, 0); AssertCommandState(command2, 1, 1, 1, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 0); m_button2.SetPressed(false); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 0); AssertCommandState(command2, 1, 2, 2, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); command1.Cancel(); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 1); AssertCommandState(command2, 1, 3, 3, 0, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); command2.SetHasFinished(true); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 1); AssertCommandState(command2, 1, 4, 4, 1, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); Scheduler.Instance.Run(); AssertCommandState(command1, 1, 7, 7, 0, 1); AssertCommandState(command2, 1, 4, 4, 1, 0); AssertCommandState(command3, 1, 4, 4, 0, 1); AssertCommandState(command4, 1, 3, 3, 0, 1); }