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test_trigger.py
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from typing import TYPE_CHECKING
import commands2
from util import * # type: ignore
from wpilib.simulation import stepTiming
if TYPE_CHECKING:
from .util import *
initialStates: list[tuple[commands2.button.InitialState, bool, map[str, bool]]] = [
(commands2.button.InitialState.kFalse, True, { "onTrue": True, "onFalse": False }),
(commands2.button.InitialState.kFalse, False, { "onTrue": False, "onFalse": False }),
(commands2.button.InitialState.kTrue, True, { "onTrue": False, "onFalse": False }),
(commands2.button.InitialState.kTrue, False, { "onTrue": False, "onFalse": True }),
(commands2.button.InitialState.kCondition, True, { "onTrue": False, "onFalse": False }),
(commands2.button.InitialState.kCondition, False, { "onTrue": False, "onFalse": False }),
(commands2.button.InitialState.kNegCondition, True, { "onTrue": True, "onFalse": False }),
(commands2.button.InitialState.kNegCondition, False, { "onTrue": False, "onFalse": True }),
]
def test_onTrue(scheduler: commands2.CommandScheduler):
finished = OOBoolean(False)
command1 = commands2.WaitUntilCommand(finished)
button = InternalButton()
button.setPressed(False)
button.onTrue(command1)
scheduler.run()
assert not command1.isScheduled()
button.setPressed(True)
scheduler.run()
assert command1.isScheduled()
finished.set(True)
scheduler.run()
assert not command1.isScheduled()
@pytest.mark.parametrize("initialState,pressed,results", initialStates)
def test_onTrueInitialState(scheduler: commands2.CommandScheduler, initialState: commands2.button.InitialState, pressed: bool, results: map[str, bool]):
command1 = commands2.cmd.idle()
button = InternalButton()
shouldBeScheduled = results["onTrue"]
button.setPressed(pressed)
button.onTrue(command1, initialState)
assert not command1.isScheduled()
scheduler.run()
assert command1.isScheduled()
def test_onFalse(scheduler: commands2.CommandScheduler):
finished = OOBoolean(False)
command1 = commands2.WaitUntilCommand(finished)
button = InternalButton()
button.setPressed(True)
button.onFalse(command1)
scheduler.run()
assert not command1.isScheduled()
button.setPressed(False)
scheduler.run()
assert command1.isScheduled()
finished.set(True)
scheduler.run()
assert not command1.isScheduled()
@pytest.mark.parametrize("initialState,pressed,results", initialStates)
def test_onFalseInitialState(scheduler: commands2.CommandScheduler, initialState: commands2.button.InitialState, pressed: bool, results: map[str, bool]):
command1 = commands2.cmd.idle()
button = InternalButton()
shouldBeScheduled = results["onFalse"]
button.setPressed(pressed)
button.onFalse(command1, initialState)
assert not command1.isScheduled()
scheduler.run()
assert command1.isScheduled()
def test_onChange(scheduler: commands2.CommandScheduler):
finished = OOBoolean(False)
command1 = commands2.WaitUntilCommand(finished)
button = InternalButton()
button.setPressed(True)
button.onChange(command1)
scheduler.run()
assert not command1.isScheduled()
button.setPressed(False)
scheduler.run()
assert command1.isScheduled()
finished.set(True)
scheduler.run()
assert not command1.isScheduled()
@pytest.mark.parametrize("initialState,pressed,results", initialStates)
def test_onChangeInitialState(scheduler: commands2.CommandScheduler, initialState: commands2.button.InitialState, pressed: bool, results: map[str, bool]):
command1 = commands2.cmd.idle()
button = InternalButton()
shouldBeScheduled = results["onTrue"] || results["onFalse"]
button.setPressed(pressed)
button.onChange(command1, initialState)
assert not command1.isScheduled()
scheduler.run()
assert command1.isScheduled()
def test_whileTrueRepeatedly(scheduler: commands2.CommandScheduler):
inits = OOInteger(0)
counter = OOInteger(0)
command1 = commands2.FunctionalCommand(
inits.incrementAndGet,
lambda: None,
lambda _: None,
lambda: counter.incrementAndGet() % 2 == 0,
).repeatedly()
button = InternalButton()
button.setPressed(False)
button.whileTrue(command1)
scheduler.run()
assert inits == 0
button.setPressed(True)
scheduler.run()
assert inits == 1
scheduler.run()
assert inits == 1
scheduler.run()
assert inits == 2
button.setPressed(False)
scheduler.run()
assert inits == 2
def test_whileTrueLambdaRunCommand(scheduler: commands2.CommandScheduler):
counter = OOInteger(0)
command1 = commands2.RunCommand(counter.incrementAndGet)
button = InternalButton()
button.setPressed(False)
button.whileTrue(command1)
scheduler.run()
assert counter == 0
button.setPressed(True)
scheduler.run()
assert counter == 1
scheduler.run()
assert counter == 2
button.setPressed(False)
scheduler.run()
assert counter == 2
def test_whileTrueOnce(scheduler: commands2.CommandScheduler):
startCounter = OOInteger(0)
endCounter = OOInteger(0)
command1 = commands2.StartEndCommand(
startCounter.incrementAndGet, endCounter.incrementAndGet
)
button = InternalButton()
button.setPressed(False)
button.whileTrue(command1)
scheduler.run()
assert startCounter == 0
assert endCounter == 0
button.setPressed(True)
scheduler.run()
scheduler.run()
assert startCounter == 1
assert endCounter == 0
button.setPressed(False)
scheduler.run()
assert startCounter == 1
assert endCounter == 1
def test_toggleOnTrue(scheduler: commands2.CommandScheduler):
startCounter = OOInteger(0)
endCounter = OOInteger(0)
command1 = commands2.StartEndCommand(
startCounter.incrementAndGet, endCounter.incrementAndGet
)
button = InternalButton()
button.setPressed(False)
button.toggleOnTrue(command1)
scheduler.run()
assert startCounter == 0
assert endCounter == 0
button.setPressed(True)
scheduler.run()
scheduler.run()
assert startCounter == 1
assert endCounter == 0
button.setPressed(False)
scheduler.run()
assert startCounter == 1
assert endCounter == 0
button.setPressed(True)
scheduler.run()
assert startCounter == 1
assert endCounter == 1
@pytest.mark.parametrize("initialState,pressed,results", initialStates)
def test_toggleOnTrueInitialState(scheduler: commands2.CommandScheduler, initialState: commands2.button.InitialState, pressed: bool, results: map[str, bool]):
command1 = commands2.cmd.idle()
button = InternalButton()
shouldBeScheduled = results["onTrue"]
button.setPressed(pressed)
button.toggleOnTrue(command1, initialState)
assert not command1.isScheduled()
scheduler.run()
assert command1.isScheduled()
def test_cancelWhenActive(scheduler: commands2.CommandScheduler):
startCounter = OOInteger(0)
endCounter = OOInteger(0)
button = InternalButton()
command1 = commands2.StartEndCommand(
startCounter.incrementAndGet, endCounter.incrementAndGet
).until(button)
button.setPressed(False)
command1.schedule()
scheduler.run()
assert startCounter == 1
assert endCounter == 0
button.setPressed(True)
scheduler.run()
assert startCounter == 1
assert endCounter == 1
scheduler.run()
assert startCounter == 1
assert endCounter == 1
def test_triggerComposition():
button1 = InternalButton()
button2 = InternalButton()
button1.setPressed(True)
button2.setPressed(False)
assert button1.and_(button2).getAsBoolean() == False
assert button1.or_(button2)() == True
assert bool(button1.negate()) == False
assert (button1 & ~button2)() == True
def test_triggerCompositionSupplier():
button1 = InternalButton()
supplier = lambda: False
button1.setPressed(True)
assert button1.and_(supplier)() == False
assert button1.or_(supplier)() == True
def test_debounce(scheduler: commands2.CommandScheduler):
command = commands2.Command()
start_spying_on(command)
button = InternalButton()
debounced = button.debounce(0.1)
debounced.onTrue(command)
button.setPressed(True)
scheduler.run()
verify(command, never()).schedule()
stepTiming(0.3)
button.setPressed(True)
scheduler.run()
verify(command).schedule()
def test_booleanSupplier():
button = InternalButton()
assert button() == False
button.setPressed(True)
assert button() == True