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[hal] HAL_RefreshDSData: Zero out control word on DS disconnect, use cache in sim (#6380)

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This commit is contained in:
Thad House
2024-02-18 14:30:40 -08:00
committed by GitHub
parent 0ad6b3acb3
commit 63d9e945b8
4 changed files with 59 additions and 27 deletions
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9
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/RobotModeTriggersTest.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj2.command.button;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj2.command.CommandTestBase;
import org.junit.jupiter.api.Test;
@@ -18,7 +17,7 @@ class RobotModeTriggersTest extends CommandTestBase {
DriverStationSim.setAutonomous(true);
DriverStationSim.setTest(false);
DriverStationSim.setEnabled(true);
DriverStation.refreshData();
DriverStationSim.notifyNewData();
Trigger auto = RobotModeTriggers.autonomous();
assertTrue(auto.getAsBoolean());
}
@@ -29,7 +28,7 @@ class RobotModeTriggersTest extends CommandTestBase {
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.setEnabled(true);
DriverStation.refreshData();
DriverStationSim.notifyNewData();
Trigger teleop = RobotModeTriggers.teleop();
assertTrue(teleop.getAsBoolean());
}
@@ -40,7 +39,7 @@ class RobotModeTriggersTest extends CommandTestBase {
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(true);
DriverStationSim.setEnabled(true);
DriverStation.refreshData();
DriverStationSim.notifyNewData();
Trigger test = RobotModeTriggers.test();
assertTrue(test.getAsBoolean());
}
@@ -51,7 +50,7 @@ class RobotModeTriggersTest extends CommandTestBase {
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.setEnabled(false);
DriverStation.refreshData();
DriverStationSim.notifyNewData();
Trigger disabled = RobotModeTriggers.disabled();
assertTrue(disabled.getAsBoolean());
}

8
wpilibNewCommands/src/test/native/cpp/frc2/command/button/RobotModeTriggersTest.cpp
View File

@@ -18,7 +18,7 @@ TEST(RobotModeTriggersTest, Autonomous) {
DriverStationSim::SetAutonomous(true);
DriverStationSim::SetTest(false);
DriverStationSim::SetEnabled(true);
frc::DriverStation::RefreshData();
DriverStationSim::NotifyNewData();
Trigger autonomous = RobotModeTriggers::Autonomous();
EXPECT_TRUE(autonomous.Get());
}
@@ -28,7 +28,7 @@ TEST(RobotModeTriggersTest, Teleop) {
DriverStationSim::SetAutonomous(false);
DriverStationSim::SetTest(false);
DriverStationSim::SetEnabled(true);
frc::DriverStation::RefreshData();
DriverStationSim::NotifyNewData();
Trigger teleop = RobotModeTriggers::Teleop();
EXPECT_TRUE(teleop.Get());
}
@@ -38,7 +38,7 @@ TEST(RobotModeTriggersTest, Disabled) {
DriverStationSim::SetAutonomous(false);
DriverStationSim::SetTest(false);
DriverStationSim::SetEnabled(false);
frc::DriverStation::RefreshData();
DriverStationSim::NotifyNewData();
Trigger disabled = RobotModeTriggers::Disabled();
EXPECT_TRUE(disabled.Get());
}
@@ -48,7 +48,7 @@ TEST(RobotModeTriggersTest, TestMode) {
DriverStationSim::SetAutonomous(false);
DriverStationSim::SetTest(true);
DriverStationSim::SetEnabled(true);
frc::DriverStation::RefreshData();
DriverStationSim::NotifyNewData();
Trigger test = RobotModeTriggers::Test();
EXPECT_TRUE(test.Get());
}