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Fix some Test Mode references to Utility (NFC) (#8827)

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This commit is contained in:
sciencewhiz
2026-04-26 22:32:50 -07:00
committed by GitHub
parent 8d30131fce
commit 29beacbefe
4 changed files with 88 additions and 88 deletions
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118
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
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@@ -39,19 +39,19 @@ class MockRobot : public TimedRobot {
std::atomic<uint32_t> m_disabledInitCount{0};
std::atomic<uint32_t> m_autonomousInitCount{0};
std::atomic<uint32_t> m_teleopInitCount{0};
std::atomic<uint32_t> m_testInitCount{0};
std::atomic<uint32_t> m_utilityInitCount{0};
std::atomic<uint32_t> m_disabledExitCount{0};
std::atomic<uint32_t> m_autonomousExitCount{0};
std::atomic<uint32_t> m_teleopExitCount{0};
std::atomic<uint32_t> m_testExitCount{0};
std::atomic<uint32_t> m_utilityExitCount{0};
std::atomic<uint32_t> m_robotPeriodicCount{0};
std::atomic<uint32_t> m_simulationPeriodicCount{0};
std::atomic<uint32_t> m_disabledPeriodicCount{0};
std::atomic<uint32_t> m_autonomousPeriodicCount{0};
std::atomic<uint32_t> m_teleopPeriodicCount{0};
std::atomic<uint32_t> m_testPeriodicCount{0};
std::atomic<uint32_t> m_utilityPeriodicCount{0};
MockRobot() : TimedRobot{kPeriod} {}
@@ -63,7 +63,7 @@ class MockRobot : public TimedRobot {
void TeleopInit() override { m_teleopInitCount++; }
void UtilityInit() override { m_testInitCount++; }
void UtilityInit() override { m_utilityInitCount++; }
void RobotPeriodic() override { m_robotPeriodicCount++; }
@@ -75,7 +75,7 @@ class MockRobot : public TimedRobot {
void TeleopPeriodic() override { m_teleopPeriodicCount++; }
void UtilityPeriodic() override { m_testPeriodicCount++; }
void UtilityPeriodic() override { m_utilityPeriodicCount++; }
void DisabledExit() override { m_disabledExitCount++; }
@@ -83,7 +83,7 @@ class MockRobot : public TimedRobot {
void TeleopExit() override { m_teleopExitCount++; }
void UtilityExit() override { m_testExitCount++; }
void UtilityExit() override { m_utilityExitCount++; }
};
} // namespace
@@ -100,19 +100,19 @@ TEST_F(TimedRobotTest, DisabledMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -120,19 +120,19 @@ TEST_F(TimedRobotTest, DisabledMode) {
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -140,19 +140,19 @@ TEST_F(TimedRobotTest, DisabledMode) {
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
EXPECT_EQ(2u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
robot.EndCompetition();
robotThread.join();
@@ -172,19 +172,19 @@ TEST_F(TimedRobotTest, AutonomousMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -192,19 +192,19 @@ TEST_F(TimedRobotTest, AutonomousMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(1u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -212,19 +212,19 @@ TEST_F(TimedRobotTest, AutonomousMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(2u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
robot.EndCompetition();
robotThread.join();
@@ -244,19 +244,19 @@ TEST_F(TimedRobotTest, TeleopMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -264,19 +264,19 @@ TEST_F(TimedRobotTest, TeleopMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(1u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -284,25 +284,25 @@ TEST_F(TimedRobotTest, TeleopMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(2u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
robot.EndCompetition();
robotThread.join();
}
TEST_F(TimedRobotTest, TestMode) {
TEST_F(TimedRobotTest, UtilityMode) {
MockRobot robot;
std::thread robotThread{[&] { robot.StartCompetition(); }};
wpi::sim::WaitForProgramStart();
@@ -315,19 +315,19 @@ TEST_F(TimedRobotTest, TestMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -335,19 +335,19 @@ TEST_F(TimedRobotTest, TestMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(1u, robot.m_testPeriodicCount);
EXPECT_EQ(1u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
@@ -355,19 +355,19 @@ TEST_F(TimedRobotTest, TestMode) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_utilityInitCount);
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(2u, robot.m_testPeriodicCount);
EXPECT_EQ(2u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::DriverStationSim::SetEnabled(false);
wpi::sim::DriverStationSim::NotifyNewData();
@@ -377,19 +377,19 @@ TEST_F(TimedRobotTest, TestMode) {
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_EQ(1u, robot.m_utilityInitCount);
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(2u, robot.m_utilityPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(1u, robot.m_testExitCount);
EXPECT_EQ(1u, robot.m_utilityExitCount);
robot.EndCompetition();
robotThread.join();
@@ -408,24 +408,24 @@ TEST_F(TimedRobotTest, ModeChange) {
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
wpi::sim::StepTiming(kPeriod);
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
// Transition to autonomous
wpi::sim::DriverStationSim::SetEnabled(true);
@@ -437,12 +437,12 @@ TEST_F(TimedRobotTest, ModeChange) {
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
// Transition to teleop
wpi::sim::DriverStationSim::SetEnabled(true);
@@ -454,14 +454,14 @@ TEST_F(TimedRobotTest, ModeChange) {
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(1u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
// Transition to test
// Transition to utility
wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
wpi::sim::DriverStationSim::NotifyNewData();
@@ -471,12 +471,12 @@ TEST_F(TimedRobotTest, ModeChange) {
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(1u, robot.m_autonomousExitCount);
EXPECT_EQ(1u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
EXPECT_EQ(0u, robot.m_utilityExitCount);
// Transition to disabled
wpi::sim::DriverStationSim::SetEnabled(false);
@@ -487,12 +487,12 @@ TEST_F(TimedRobotTest, ModeChange) {
EXPECT_EQ(2u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_utilityInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(1u, robot.m_autonomousExitCount);
EXPECT_EQ(1u, robot.m_teleopExitCount);
EXPECT_EQ(1u, robot.m_testExitCount);
EXPECT_EQ(1u, robot.m_utilityExitCount);
robot.EndCompetition();
robotThread.join();