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

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This commit is contained in:
Starlight220
2022-12-01 23:28:06 +02:00
committed by GitHub
parent eae68fc165
commit 1f1461e254
5 changed files with 146 additions and 12 deletions
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40
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
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@@ -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());