[commands] Add Trigger.onChange() test (#6849)

wpilibsuite · Jul 27, 2024 · 5a1417a · 5a1417a
1 parent e83a432
commit 5a1417a
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diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
@@ -62,6 +62,32 @@ void onFalseTest() {
     assertFalse(command1.isScheduled());
   }
 
+  @Test
+  void onChangeTest() {
+    CommandScheduler scheduler = CommandScheduler.getInstance();
+    AtomicBoolean finished = new AtomicBoolean(false);
+    Command command1 = new WaitUntilCommand(finished::get);
+
+    InternalButton button = new InternalButton();
+    button.setPressed(true);
+    button.onChange(command1);
+    scheduler.run();
+    assertFalse(command1.isScheduled());
+    button.setPressed(false);
+    scheduler.run();
+    assertTrue(command1.isScheduled());
+    finished.set(true);
+    scheduler.run();
+    assertFalse(command1.isScheduled());
+    finished.set(false);
+    button.setPressed(true);
+    scheduler.run();
+    assertTrue(command1.isScheduled());
+    finished.set(true);
+    scheduler.run();
+    assertFalse(command1.isScheduled());
+  }
+
   @Test
   void whileTrueRepeatedlyTest() {
     CommandScheduler scheduler = CommandScheduler.getInstance();

diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp
@@ -52,6 +52,30 @@ TEST_F(TriggerTest, OnFalse) {
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
+TEST_F(TriggerTest, OnChange) {
+  auto& scheduler = CommandScheduler::GetInstance();
+  bool finished = false;
+  bool pressed = true;
+  WaitUntilCommand command([&finished] { return finished; });
+
+  Trigger([&pressed] { return pressed; }).OnChange(&command);
+  scheduler.Run();
+  EXPECT_FALSE(command.IsScheduled());
+  pressed = false;
+  scheduler.Run();
+  EXPECT_TRUE(command.IsScheduled());
+  finished = true;
+  scheduler.Run();
+  EXPECT_FALSE(command.IsScheduled());
+  finished = false;
+  pressed = true;
+  scheduler.Run();
+  EXPECT_TRUE(command.IsScheduled());
+  finished = true;
+  scheduler.Run();
+  EXPECT_FALSE(command.IsScheduled());
+}
+
 TEST_F(TriggerTest, WhileTrueRepeatedly) {
   auto& scheduler = CommandScheduler::GetInstance();
   int inits = 0;