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https://github.com/wpilibsuite/allwpilib
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48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <frc/Joystick.h>
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#include <mockdata/DriverStationData.h>
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#include "CommandTestBase.h"
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#include "frc2/command/CommandScheduler.h"
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#include "frc2/command/RunCommand.h"
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#include "frc2/command/WaitUntilCommand.h"
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#include "frc2/command/button/POVButton.h"
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#include "gtest/gtest.h"
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using namespace frc2;
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class POVButtonTest : public CommandTestBase {};
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TEST_F(POVButtonTest, SetPOVTest) {
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HAL_JoystickPOVs povs;
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povs.count = 1;
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povs.povs[0] = 0;
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HALSIM_SetJoystickPOVs(1, &povs);
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HALSIM_NotifyDriverStationNewData();
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auto& scheduler = CommandScheduler::GetInstance();
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bool finished = false;
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WaitUntilCommand command([&finished] { return finished; });
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frc::Joystick joy(1);
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POVButton(&joy, 90).WhenPressed(&command);
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scheduler.Run();
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EXPECT_FALSE(scheduler.IsScheduled(&command));
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povs.povs[0] = 90;
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HALSIM_SetJoystickPOVs(1, &povs);
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HALSIM_NotifyDriverStationNewData();
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scheduler.Run();
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EXPECT_TRUE(scheduler.IsScheduled(&command));
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finished = true;
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scheduler.Run();
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EXPECT_FALSE(scheduler.IsScheduled(&command));
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}
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