[commands] Use factories and decorators in Command tests #7006

TheComputer314 · 2024-08-25T15:47:29Z

Closes #6652.

command1 and command2 are mock Commands that don't actually implement Command decorators

github-actions · 2024-08-25T15:47:39Z

This PR modifies commands. Please open a corresponding PR in Python Commands and include a link to this PR.

TheComputer314 · 2024-08-25T15:53:19Z

/format

spacey-sooty

Looks good to me but needs C++ and Python ports

…nd-tests

TheComputer314 · 2024-10-27T18:31:10Z

/format

KangarooKoala

I'm a bit iffy about using factories instead of the command constructors in tests that are specifically testing those command types, but the command constructors also don't support CommandPtr. I could see either way (replacing command constructors in command type tests with factories or not using any factories in command type tests) being fine. @rzblue thoughts?

wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp

KangarooKoala

Submitted before I meant to, whoops. I've also updated my comment with a list of what needs to be changed.

wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp

TheComputer314 · 2024-12-12T22:56:56Z

ScheduleCommand doesn't have a factory yet, and I'm not entirely sure how to POVButtonTest.

TheComputer314 · 2024-12-12T22:57:03Z

/format

KangarooKoala · 2024-12-13T00:26:39Z

Great progress! I've updated the list of changes to make.

ScheduleCommand doesn't have a factory yet, and I'm not entirely sure how to POVButtonTest.

For ScheduleCommandTest, you just need to replace InstantCommand, and for POVButtonTest, you just need to replace WaitUntilCommand.

P.S. I get email notifications for GitHub comments on this PR (and other PRs I've participated in), and I also usually see all updated PRs (which includes PRs with new commits) within a day. If you want to make sure I see it, though, you can always keep on requesting my review- Emails are cheap!

TheComputer314 · 2024-12-13T15:21:32Z

For ScheduleCommandTest, ScheduleCommand doesn't have a constructor that accepts a CommandPtr, and for POVButtonTest, (as far as my understand of cpp goes) Trigger only has a constructor for an rvalue CommandPtr when command needs to be used elsewhere, necessitating making it an lvalue.

KangarooKoala · 2024-12-13T16:28:10Z

Ah, you're right, I missed that. Don't worry about them, then.

TheComputer314 · 2024-12-13T21:47:07Z

CommandPtr also doesn't have .addRequirements() necessary for AddRequirementsTest.

KangarooKoala · 2024-12-14T00:52:21Z

Ah, I missed that too. I think that leaves just ParallelRaceGroupTest.ParallelRaceCopy?

TheComputer314 · 2024-12-15T17:22:35Z

I think everything on the checklist is done now.

KangarooKoala · 2024-12-17T03:24:31Z

Whoops, looks like I missed these earlier:

CompositionTestBase: cmd::WaitUntil([] { return false; }) -> cmd::Idle()
ConditionalCommandTest.AllCancelSelf: cmd::WaitUntil([] { return false; })

Other than that, should be everything. (Though I am still iffy about using the factories in tests of the command classes themselves)

TheComputer314 · 2024-12-17T03:27:27Z

(Though I am still iffy about using the factories in tests of the command classes themselves)

I feel like it should be fine? The actual code logic is entirely identical so the only way for the factories to break is for the command behind the factory to break, which preserves the function of the command unit tests.

TheComputer314 · 2024-12-28T21:08:57Z

* `CompositionTestBase`: `cmd::WaitUntil([] { return false; })` -> `cmd::Idle()`

* `ConditionalCommandTest.AllCancelSelf`: `cmd::WaitUntil([] { return false; })`

Done those 2.

KangarooKoala

Looks good to me, for what it's worth. One of the actual maintainers will need to review and approve this too before this gets merged.

Starlight220 · 2024-12-29T10:03:44Z

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java

@@ -45,7 +45,7 @@ void requirementUninterruptibleTest() {
      Subsystem requirement = new SubsystemBase() {};

      Command notInterrupted =
-          new RunCommand(() -> {}, requirement)
+          Commands.idle(requirement)


Does requirement.idle() exist?

TheComputer314 added 15 commits August 24, 2024 12:27

Do CommandDecoratorTest

9cf0fc7

Do CommandRequirementsTest

2997b22

Do MultiCompositionTestBase.java

eb2d761

Do ConditionalCommandTest

cdd2f05

Do ParallelDeadlineGroupTest

599556d

Do ParallelRaceGroupTest

6ab83c8

Do ProxyCommandTest

25114a8

Do ScheduleCommandTest

0752376

Do SchedulerTest

b1d863a

Do SchedulingRecursionTest

9d65c17

Do SchedulingRecursionTest

1240dc8

Fix ParallelRaceGroupTest failing

063ebae

command1 and command2 are mock Commands that don't actually implement Command decorators

Do SelectCommandTest

c44fb83

Do SingleCompositionTestBase

2c87960

Do ScheduleCommandTest

443b982

TheComputer314 requested a review from a team as a code owner August 25, 2024 15:47

Formatting fixes

8088350

spacey-sooty suggested changes Sep 13, 2024

View reviewed changes

TheComputer314 added 3 commits September 13, 2024 23:05

Start work on CommandDecoratorTest

717b66f

Merge branch 'factories-in-command-tests' into cpp-factories-in-comma…

7ff7356

…nd-tests

CommandDecoratorTest done

497e3cc

TheComputer314 marked this pull request as draft September 22, 2024 04:22

TheComputer314 added 3 commits October 27, 2024 11:52

Merge branch 'main' into cpp-factories-in-command-tests

649b8fc

Do CommandDecoratorTest

1d115a4

Do ConditionalCommandTest

a6898a9

github-actions bot and others added 2 commits October 27, 2024 18:36

Formatting fixes

739b76c

Merge branch 'main' into factories-in-command-tests

1e6a43e

Merge branch 'main' into factories-in-command-tests

dcd36be

github-actions bot added the component: command-based WPILib Command Based Library label Dec 8, 2024

TheComputer314 requested a review from KangarooKoala December 8, 2024 23:12

KangarooKoala reviewed Dec 9, 2024

View reviewed changes

wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp Outdated Show resolved Hide resolved

KangarooKoala reviewed Dec 9, 2024

View reviewed changes

wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp Outdated Show resolved Hide resolved

TheComputer314 added 4 commits December 8, 2024 19:09

Resolve requested changed

cb29447

Do SchedulerTest

6659f58

Do SchedulingRecusionTest

17247a7

Do SelectCommandTest

5addac0

TheComputer314 requested a review from KangarooKoala December 12, 2024 22:57

Formatting fixes

ed02b24

Do ParallelRaceGroupTest.ParallelRaceCopy

b8e6479

TheComputer314 added 3 commits December 28, 2024 14:50

Merge branch 'refs/heads/main' into factories-in-command-tests

49cced1

Do CompositionTestBase

d6e87ca

Do ConditionalCommandTest.AllCancelSelf

5210266

KangarooKoala approved these changes Dec 28, 2024

View reviewed changes

Starlight220 approved these changes Dec 29, 2024

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PeterJohnson changed the title ~~Make Command tests use command factories and decorators.~~ [commands] Use factories and decorators in Command tests Dec 29, 2024

PeterJohnson merged commit 78b6d61 into wpilibsuite:main Dec 29, 2024
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[commands] Use factories and decorators in Command tests #7006

[commands] Use factories and decorators in Command tests #7006

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[commands] Use factories and decorators in Command tests #7006

[commands] Use factories and decorators in Command tests #7006

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