CommandParallelGroupTest.java 文件源码

java
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项目:wpilib-java 作者:
public void run() {
    TestCommand command1 = new TestCommand();
    TestCommand command2 = new TestCommand();

    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.getInstance().run();
    assertCommandState(command1, 0, 0, 0, 0, 0);
    assertCommandState(command2, 0, 0, 0, 0, 0);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 1, 1, 0, 0);
    assertCommandState(command2, 1, 1, 1, 0, 0);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 2, 2, 0, 0);
    assertCommandState(command2, 1, 2, 2, 0, 0);
    command1.setHasFinished(true);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 3, 3, 1, 0);
    assertCommandState(command2, 1, 3, 3, 0, 0);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 3, 3, 1, 0);
    assertCommandState(command2, 1, 4, 4, 0, 0);
    command2.setHasFinished(true);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 3, 3, 1, 0);
    assertCommandState(command2, 1, 5, 5, 1, 0);

}
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