move some tests to schedulingRecursionTest & improve comments

wpilibsuite · Dec 16, 2024 · 3078be4 · 3078be4
1 parent 3c185de
commit 3078be4
Show file tree

Hide file tree

Showing 2 changed files with 40 additions and 40 deletions.
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp
@@ -101,45 +101,6 @@ TEST_F(CommandScheduleTest, SchedulerCancel) {
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(CommandScheduleTest, CancelNextCommand) {
-  CommandScheduler scheduler = GetScheduler();
-
-  frc2::RunCommand* command1Ptr = nullptr;
-  frc2::RunCommand* command2Ptr = nullptr;
-  int counter = 0;
-
-  auto command1 = frc2::RunCommand([&counter, &command2Ptr, &scheduler] {
-    scheduler.Cancel(command2Ptr);
-    counter++;
-  });
-  auto command2 = frc2::RunCommand([&counter, &command1Ptr, &scheduler] {
-    scheduler.Cancel(command1Ptr);
-    counter++;
-  });
-
-  command1Ptr = &command1;
-  command2Ptr = &command2;
-
-  scheduler.Schedule(&command1);
-  scheduler.Schedule(&command2);
-  scheduler.Run();
-
-  EXPECT_EQ(counter, 1) << "Second command was run when it shouldn't have been";
-
-  // only one of the commands should be canceled.
-  EXPECT_FALSE(scheduler.IsScheduled(&command1) &&
-               scheduler.IsScheduled(&command2))
-      << "Both commands are running when only one should be";
-  // one of the commands shouldn't be canceled because the other one is canceled
-  // first
-  EXPECT_TRUE(scheduler.IsScheduled(&command1) ||
-              scheduler.IsScheduled(&command2))
-      << "Both commands are canceled when only one should be";
-
-  scheduler.Run();
-  EXPECT_EQ(counter, 2);
-}
-
 TEST_F(CommandScheduleTest, CommandKnowsWhenItEnded) {
   CommandScheduler scheduler = GetScheduler();
 
@@ -169,7 +130,7 @@ TEST_F(CommandScheduleTest, ScheduleCommandInCommand) {
       frc2::RunCommand([&counter, &scheduler, &commandToGetScheduled] {
         scheduler.Schedule(&commandToGetScheduled);
         EXPECT_EQ(counter, 1)
-            << "Scheduled cmmand's init was not run immediately "
+            << "Scheduled command's init was not run immediately "
                "after getting scheduled";
       });
 

diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp
@@ -339,6 +339,45 @@ TEST_F(SchedulingRecursionTest, CancelDefaultCommandFromEnd) {
   EXPECT_TRUE(scheduler.IsScheduled(&other));
 }
 
+TEST_F(SchedulingRecursionTest, CancelNextCommandFromCommand) {
+  CommandScheduler scheduler = GetScheduler();
+
+  frc2::RunCommand* command1Ptr = nullptr;
+  frc2::RunCommand* command2Ptr = nullptr;
+  int counter = 0;
+
+  auto command1 = frc2::RunCommand([&counter, &command2Ptr, &scheduler] {
+    scheduler.Cancel(command2Ptr);
+    counter++;
+  });
+  auto command2 = frc2::RunCommand([&counter, &command1Ptr, &scheduler] {
+    scheduler.Cancel(command1Ptr);
+    counter++;
+  });
+
+  command1Ptr = &command1;
+  command2Ptr = &command2;
+
+  scheduler.Schedule(&command1);
+  scheduler.Schedule(&command2);
+  scheduler.Run();
+
+  EXPECT_EQ(counter, 1) << "Second command was run when it shouldn't have been";
+
+  // only one of the commands should be canceled.
+  EXPECT_FALSE(scheduler.IsScheduled(&command1) &&
+               scheduler.IsScheduled(&command2))
+      << "Both commands are running when only one should be";
+  // one of the commands shouldn't be canceled because the other one is canceled
+  // first
+  EXPECT_TRUE(scheduler.IsScheduled(&command1) ||
+              scheduler.IsScheduled(&command2))
+      << "Both commands are canceled when only one should be";
+
+  scheduler.Run();
+  EXPECT_EQ(counter, 2);
+}
+
 INSTANTIATE_TEST_SUITE_P(
     SchedulingRecursionTests, SchedulingRecursionTest,
     testing::Values(Command::InterruptionBehavior::kCancelSelf,