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[ntcore] NetworkTables 4 (#3217)

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This commit is contained in:
Peter Johnson
2022-10-08 10:01:31 -07:00
committed by GitHub
parent 90cfa00115
commit 77301b126c
380 changed files with 34573 additions and 22095 deletions
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46
wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp Normal file
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@@ -0,0 +1,46 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <networktables/BooleanTopic.h>
#include <networktables/NetworkTableInstance.h>
#include "frc/event/EventLoop.h"
#include "frc/event/NetworkBooleanEvent.h"
#include "gtest/gtest.h"
using namespace frc;
class NetworkBooleanEventTest : public ::testing::Test {
public:
NetworkBooleanEventTest() {
m_inst = nt::NetworkTableInstance::Create();
m_inst.StartLocal();
}
~NetworkBooleanEventTest() override {
nt::NetworkTableInstance::Destroy(m_inst);
}
nt::NetworkTableInstance m_inst;
};
TEST_F(NetworkBooleanEventTest, Set) {
EventLoop loop;
int counter = 0;
auto pub = m_inst.GetTable("TestTable")->GetBooleanTopic("Test").Publish();
NetworkBooleanEvent(&loop, m_inst, "TestTable", "Test").IfHigh([&] {
++counter;
});
pub.Set(false);
loop.Poll();
EXPECT_EQ(0, counter);
pub.Set(true);
loop.Poll();
EXPECT_EQ(1, counter);
pub.Set(false);
loop.Poll();
EXPECT_EQ(1, counter);
}

36
wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardInstanceTest.cpp
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@@ -25,14 +25,14 @@ TEST(ShuffleboardInstanceTest, PathFluent) {
NTWrapper ntInst;
frc::detail::ShuffleboardInstance shuffleboardInst{ntInst.inst};
auto entry = shuffleboardInst.GetTab("Tab Title")
.GetLayout("List", "List Layout")
.Add("Data", "string")
.WithWidget("Text View")
.GetEntry();
auto& entry = shuffleboardInst.GetTab("Tab Title")
.GetLayout("List", "List Layout")
.Add("Data", "string")
.WithWidget("Text View")
.GetEntry();
EXPECT_EQ("string", entry.GetString("")) << "Wrong entry value";
EXPECT_EQ("/Shuffleboard/Tab Title/List/Data", entry.GetName())
EXPECT_EQ("/Shuffleboard/Tab Title/List/Data", entry.GetTopic().GetName())
<< "Entry path generated incorrectly";
}
@@ -40,17 +40,17 @@ TEST(ShuffleboardInstanceTest, NestedLayoutsFluent) {
NTWrapper ntInst;
frc::detail::ShuffleboardInstance shuffleboardInst{ntInst.inst};
auto entry = shuffleboardInst.GetTab("Tab")
.GetLayout("First", "List")
.GetLayout("Second", "List")
.GetLayout("Third", "List")
.GetLayout("Fourth", "List")
.Add("Value", "string")
.GetEntry();
auto& entry = shuffleboardInst.GetTab("Tab")
.GetLayout("First", "List")
.GetLayout("Second", "List")
.GetLayout("Third", "List")
.GetLayout("Fourth", "List")
.Add("Value", "string")
.GetEntry();
EXPECT_EQ("string", entry.GetString("")) << "Wrong entry value";
EXPECT_EQ("/Shuffleboard/Tab/First/Second/Third/Fourth/Value",
entry.GetName())
entry.GetTopic().GetName())
<< "Entry path generated incorrectly";
}
@@ -64,11 +64,11 @@ TEST(ShuffleboardInstanceTest, NestedLayoutsOop) {
frc::ShuffleboardLayout& third = second.GetLayout("Third", "List");
frc::ShuffleboardLayout& fourth = third.GetLayout("Fourth", "List");
frc::SimpleWidget& widget = fourth.Add("Value", "string");
auto entry = widget.GetEntry();
auto& entry = widget.GetEntry();
EXPECT_EQ("string", entry.GetString("")) << "Wrong entry value";
EXPECT_EQ("/Shuffleboard/Tab/First/Second/Third/Fourth/Value",
entry.GetName())
entry.GetTopic().GetName())
<< "Entry path generated incorrectly";
}
@@ -97,12 +97,12 @@ TEST(ShuffleboardInstanceTest, NestedActuatorWidgetsAreDisabled) {
// Note: we use the unsafe `GetBoolean()` method because if the value is NOT
// a boolean, or if it is not present, then something has clearly gone very,
// very wrong
bool controllable = controllableEntry.GetValue()->GetBoolean();
bool controllable = controllableEntry.GetValue().GetBoolean();
// Sanity check
EXPECT_TRUE(controllable)
<< "The nested actuator widget should be enabled by default";
shuffleboardInst.DisableActuatorWidgets();
controllable = controllableEntry.GetValue()->GetBoolean();
controllable = controllableEntry.GetValue().GetBoolean();
EXPECT_FALSE(controllable)
<< "The nested actuator widget should have been disabled";
}

18
wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp
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@@ -33,7 +33,7 @@ TEST_F(SuppliedValueWidgetTest, AddString) {
auto entry = m_ntInst.inst.GetEntry("/Shuffleboard/Tab/String");
m_shuffleboardInst.Update();
EXPECT_EQ("foo", entry.GetValue()->GetString());
EXPECT_EQ("foo", entry.GetValue().GetString());
}
TEST_F(SuppliedValueWidgetTest, AddNumber) {
@@ -42,7 +42,7 @@ TEST_F(SuppliedValueWidgetTest, AddNumber) {
auto entry = m_ntInst.inst.GetEntry("/Shuffleboard/Tab/Num");
m_shuffleboardInst.Update();
EXPECT_FLOAT_EQ(1.0, entry.GetValue()->GetDouble());
EXPECT_FLOAT_EQ(1.0, entry.GetValue().GetDouble());
}
TEST_F(SuppliedValueWidgetTest, AddBoolean) {
@@ -51,7 +51,7 @@ TEST_F(SuppliedValueWidgetTest, AddBoolean) {
auto entry = m_ntInst.inst.GetEntry("/Shuffleboard/Tab/Bool");
m_shuffleboardInst.Update();
EXPECT_EQ(true, entry.GetValue()->GetBoolean());
EXPECT_EQ(true, entry.GetValue().GetBoolean());
}
TEST_F(SuppliedValueWidgetTest, AddStringArray) {
@@ -60,7 +60,7 @@ TEST_F(SuppliedValueWidgetTest, AddStringArray) {
auto entry = m_ntInst.inst.GetEntry("/Shuffleboard/Tab/Strings");
m_shuffleboardInst.Update();
auto actual = entry.GetValue()->GetStringArray();
auto actual = entry.GetValue().GetStringArray();
EXPECT_EQ(strings.size(), actual.size());
for (size_t i = 0; i < strings.size(); i++) {
@@ -74,7 +74,7 @@ TEST_F(SuppliedValueWidgetTest, AddNumberArray) {
auto entry = m_ntInst.inst.GetEntry("/Shuffleboard/Tab/Numbers");
m_shuffleboardInst.Update();
auto actual = entry.GetValue()->GetDoubleArray();
auto actual = entry.GetValue().GetDoubleArray();
EXPECT_EQ(nums.size(), actual.size());
for (size_t i = 0; i < nums.size(); i++) {
@@ -88,7 +88,7 @@ TEST_F(SuppliedValueWidgetTest, AddBooleanArray) {
auto entry = m_ntInst.inst.GetEntry("/Shuffleboard/Tab/Booleans");
m_shuffleboardInst.Update();
auto actual = entry.GetValue()->GetBooleanArray();
auto actual = entry.GetValue().GetBooleanArray();
EXPECT_EQ(bools.size(), actual.size());
for (size_t i = 0; i < bools.size(); i++) {
@@ -97,11 +97,11 @@ TEST_F(SuppliedValueWidgetTest, AddBooleanArray) {
}
TEST_F(SuppliedValueWidgetTest, AddRaw) {
std::string_view bytes = "\1\2\3";
std::vector<uint8_t> bytes = {1, 2, 3};
m_tab->AddRaw("Raw", [&bytes]() { return bytes; });
auto entry = m_ntInst.inst.GetEntry("/Shuffleboard/Tab/Raw");
m_shuffleboardInst.Update();
auto actual = entry.GetValue()->GetRaw();
EXPECT_EQ(bytes, actual);
auto actual = entry.GetValue().GetRaw();
EXPECT_EQ(bytes, std::vector<uint8_t>(actual.begin(), actual.end()));
}