CommandSequentialGroupTest.java 文件源码

public void run() {
    final ASubsystem subsystem = new ASubsystem();


    TestCommand command1 = new TestCommand() {
        {
            requires(subsystem);
        }
    };

    TestCommand command2 = new TestCommand() {
        {
            requires(subsystem);
        }
    };

    TestCommand command3 = new TestCommand() {
        {
            requires(subsystem);
        }
    };

    CommandGroup commandGroup = new CommandGroup();
    commandGroup.addSequential(command1);
    commandGroup.addSequential(command2);
    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.getInstance().run();
    assertCommandState(command1, 0, 0, 0, 0, 0);
    assertCommandState(command2, 0, 0, 0, 0, 0);
    assertCommandState(command3, 0, 0, 0, 0, 0);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 1, 1, 0, 0);
    assertCommandState(command2, 0, 0, 0, 0, 0);
    assertCommandState(command3, 0, 0, 0, 0, 0);
    command1.setHasFinished(true);
    assertCommandState(command1, 1, 1, 1, 0, 0);
    assertCommandState(command2, 0, 0, 0, 0, 0);
    assertCommandState(command3, 0, 0, 0, 0, 0);

    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 2, 2, 1, 0);
    assertCommandState(command2, 1, 1, 1, 0, 0);
    assertCommandState(command3, 0, 0, 0, 0, 0);
    command2.setHasFinished(true);
    assertCommandState(command1, 1, 2, 2, 1, 0);
    assertCommandState(command2, 1, 1, 1, 0, 0);
    assertCommandState(command3, 0, 0, 0, 0, 0);

    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 2, 2, 1, 0);
    assertCommandState(command2, 1, 2, 2, 1, 0);
    assertCommandState(command3, 1, 1, 1, 0, 0);
    command3.setHasFinished(true);
    assertCommandState(command1, 1, 2, 2, 1, 0);
    assertCommandState(command2, 1, 2, 2, 1, 0);
    assertCommandState(command3, 1, 1, 1, 0, 0);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 2, 2, 1, 0);
    assertCommandState(command2, 1, 2, 2, 1, 0);
    assertCommandState(command3, 1, 2, 2, 1, 0);
    Scheduler.getInstance().run();
    assertCommandState(command1, 1, 2, 2, 1, 0);
    assertCommandState(command2, 1, 2, 2, 1, 0);
    assertCommandState(command3, 1, 2, 2, 1, 0);

}