[wpilib] Add method to enable/disable LiveWindow in test mode (#4678)

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -94,6 +94,18 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
   m_ntFlushEnabled = enabled;
 }
 
+void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
+  if (IsTest()) {
+    throw FRC_MakeError(err::IncompatibleMode,
+                        "Can't configure test mode while in test mode!");
+  }
+  m_lwEnabledInTest = testLW;
+}
+
+bool IterativeRobotBase::IsLiveWindowEnabledInTest() {
+  return m_lwEnabledInTest;
+}
+
 units::second_t IterativeRobotBase::GetPeriod() const {
   return m_period;
 }
@@ -125,8 +137,10 @@ void IterativeRobotBase::LoopFunc() {
     } else if (m_lastMode == Mode::kTeleop) {
       TeleopExit();
     } else if (m_lastMode == Mode::kTest) {
-      LiveWindow::SetEnabled(false);
-      Shuffleboard::DisableActuatorWidgets();
+      if (m_lwEnabledInTest) {
+        LiveWindow::SetEnabled(false);
+        Shuffleboard::DisableActuatorWidgets();
+      }
       TestExit();
     }
 
@@ -141,8 +155,10 @@ void IterativeRobotBase::LoopFunc() {
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
     } else if (mode == Mode::kTest) {
-      LiveWindow::SetEnabled(true);
-      Shuffleboard::EnableActuatorWidgets();
+      if (m_lwEnabledInTest) {
+        LiveWindow::SetEnabled(true);
+        Shuffleboard::EnableActuatorWidgets();
+      }
       TestInit();
       m_watchdog.AddEpoch("TestInit()");
     }

wpilibc/src/main/native/include/frc/IterativeRobotBase.h

@@ -201,6 +201,19 @@ class IterativeRobotBase : public RobotBase {
    */
   void SetNetworkTablesFlushEnabled(bool enabled);
 
+  /**
+   * Sets whether LiveWindow operation is enabled during test mode.
+   *
+   * @param testLW True to enable, false to disable. Defaults to true.
+   * @throws if called in test mode.
+   */
+  void EnableLiveWindowInTest(bool testLW);
+
+  /**
+   * Whether LiveWindow operation is enabled during test mode.
+   */
+  bool IsLiveWindowEnabledInTest();
+
   /**
    * Gets time period between calls to Periodic() functions.
    */
@@ -228,6 +241,7 @@ class IterativeRobotBase : public RobotBase {
   units::second_t m_period;
   Watchdog m_watchdog;
   bool m_ntFlushEnabled = true;
+  bool m_lwEnabledInTest = true;
 
   void PrintLoopOverrunMessage();
 };

wpilibc/src/test/native/cpp/TimedRobotTest.cpp

@@ -9,6 +9,7 @@
 #include <atomic>
 #include <thread>
 
+#include "frc/livewindow/LiveWindow.h"
 #include "frc/simulation/DriverStationSim.h"
 #include "frc/simulation/SimHooks.h"
 #include "gtest/gtest.h"
@@ -16,7 +17,7 @@
 using namespace frc;
 
 namespace {
-class TimedRobotTest : public ::testing::Test {
+class TimedRobotTest : public ::testing::TestWithParam<bool> {
  protected:
   void SetUp() override { frc::sim::PauseTiming(); }
 
@@ -304,8 +305,11 @@ TEST_F(TimedRobotTest, TeleopMode) {
   robotThread.join();
 }
 
-TEST_F(TimedRobotTest, TestMode) {
+TEST_P(TimedRobotTest, TestMode) {
+  bool isTestLW = GetParam();
+
   MockRobot robot;
+  robot.EnableLiveWindowInTest(isTestLW);
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
@@ -321,6 +325,7 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
   EXPECT_EQ(0u, robot.m_teleopInitCount);
   EXPECT_EQ(0u, robot.m_testInitCount);
+  EXPECT_FALSE(frc::LiveWindow::IsEnabled());
 
   EXPECT_EQ(0u, robot.m_robotPeriodicCount);
   EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
@@ -342,6 +347,9 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
   EXPECT_EQ(0u, robot.m_teleopInitCount);
   EXPECT_EQ(1u, robot.m_testInitCount);
+  EXPECT_EQ(isTestLW, frc::LiveWindow::IsEnabled());
+
+  EXPECT_THROW(robot.EnableLiveWindowInTest(isTestLW), std::runtime_error);
 
   EXPECT_EQ(1u, robot.m_robotPeriodicCount);
   EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
@@ -376,6 +384,32 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
+  frc::sim::DriverStationSim::SetEnabled(false);
+  frc::sim::DriverStationSim::SetAutonomous(false);
+  frc::sim::DriverStationSim::SetTest(false);
+  frc::sim::DriverStationSim::NotifyNewData();
+  frc::sim::StepTiming(20_ms);  // Wait for Notifiers
+
+  EXPECT_EQ(1u, robot.m_robotInitCount);
+  EXPECT_EQ(1u, robot.m_simulationInitCount);
+  EXPECT_EQ(1u, robot.m_disabledInitCount);
+  EXPECT_EQ(0u, robot.m_autonomousInitCount);
+  EXPECT_EQ(0u, robot.m_teleopInitCount);
+  EXPECT_EQ(1u, robot.m_testInitCount);
+  EXPECT_FALSE(frc::LiveWindow::IsEnabled());
+
+  EXPECT_EQ(3u, robot.m_robotPeriodicCount);
+  EXPECT_EQ(3u, robot.m_simulationPeriodicCount);
+  EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
+  EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
+  EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
+  EXPECT_EQ(2u, robot.m_testPeriodicCount);
+
+  EXPECT_EQ(0u, robot.m_disabledExitCount);
+  EXPECT_EQ(0u, robot.m_autonomousExitCount);
+  EXPECT_EQ(0u, robot.m_teleopExitCount);
+  EXPECT_EQ(1u, robot.m_testExitCount);
+
   robot.EndCompetition();
   robotThread.join();
 }
@@ -572,3 +606,5 @@ TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
   robot.EndCompetition();
   robotThread.join();
 }
+
+INSTANTIATE_TEST_SUITE_P(TimedRobotTests, TimedRobotTest, testing::Bool());