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 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 AssertCommandState(MockCommand command, int initialize, int execute, int isFinished, int end,
int interrupted)
{
Assert.AreEqual(initialize, command.GetInitializeCount());
Assert.AreEqual(execute, command.GetExecuteCount());
Assert.AreEqual(isFinished, command.GetIsFinishedCount());
Assert.AreEqual(end, command.GetEndCount());
Assert.AreEqual(interrupted, command.GetInterruptedCount());
}
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 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 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 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 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);
}
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);
}
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();
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 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);
}