[wpilib] Add Notifier integration tests (#3480)

Closes #2610.

wpilibcIntegrationTests/src/main/native/cpp/NotifierTest.cpp

@@ -6,34 +6,38 @@
 
 #include <fmt/core.h>
 
-#include "TestBench.h"
 #include "frc/Timer.h"
 #include "gtest/gtest.h"
 
-unsigned notifierCounter;
+TEST(NotifierTest, TestStartPeriodicAndStop) {
+  uint32_t counter = 0;
 
-void notifierHandler(void*) {
-  notifierCounter++;
-}
-
-/**
- * Test if the Wait function works
- */
-TEST(NotifierTest, DISABLED_TestTimerNotifications) {
-  fmt::print("NotifierTest...\n");
-  notifierCounter = 0;
-  fmt::print("notifier(notifierHandler, nullptr)...\n");
-  frc::Notifier notifier(notifierHandler, nullptr);
-  fmt::print("Start Periodic...\n");
+  frc::Notifier notifier{[&] { ++counter; }};
   notifier.StartPeriodic(1_s);
 
-  fmt::print("Wait...\n");
   frc::Wait(10.5_s);
-  fmt::print("...Wait\n");
 
-  EXPECT_EQ(10u, notifierCounter)
-      << "Received " << notifierCounter << " notifications in 10.5 seconds";
-  fmt::print("Received {} notifications in 10.5 seconds", notifierCounter);
+  notifier.Stop();
+  EXPECT_EQ(10u, counter) << "Received " << counter
+                          << " notifications in 10.5 seconds\n";
+  fmt::print("Received {} notifications in 10.5 seconds\n", counter);
 
-  fmt::print("...NotifierTest\n");
+  frc::Wait(3_s);
+
+  EXPECT_EQ(10u, counter) << "Received " << counter - 10
+                          << " notifications in 3 seconds\n";
+  fmt::print("Received {} notifications in 3 seconds\n", counter - 10);
+}
+
+TEST(NotifierTest, TestStartSingle) {
+  uint32_t counter = 0;
+
+  frc::Notifier notifier{[&] { ++counter; }};
+  notifier.StartSingle(1_s);
+
+  frc::Wait(10.5_s);
+
+  EXPECT_EQ(1u, counter) << "Received " << counter
+                         << " notifications in 10.5 seconds\n";
+  fmt::print("Received {} notifications in 10.5 seconds\n", counter);
 }

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/NotifierTest.java

@@ -0,0 +1,56 @@
+// 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.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.assertEquals;
+
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.logging.Logger;
+import org.junit.Test;
+
+/** Tests to see if the Notifier is working properly. */
+public class NotifierTest extends AbstractComsSetup {
+  private static final Logger logger = Logger.getLogger(NotifierTest.class.getName());
+  private static int counter = 0;
+
+  @Override
+  protected Logger getClassLogger() {
+    return logger;
+  }
+
+  @Test
+  public void testStartPeriodicAndStop() {
+    counter = 0;
+    Notifier notifier = new Notifier(() -> ++counter);
+    notifier.startPeriodic(1.0);
+
+    Timer.delay(10.5);
+
+    notifier.stop();
+    assertEquals("Received " + counter + " notifications in 10.5 seconds\n", 10, counter);
+    System.out.println("Received " + counter + " notifications in 10.5 seconds");
+
+    Timer.delay(3.0);
+
+    assertEquals("Received " + (counter - 10) + " notifications in 3 seconds\n", 10, counter);
+    System.out.println("Received " + (counter - 10) + " notifications in 3 seconds");
+
+    notifier.close();
+  }
+
+  @Test
+  public void testStartSingle() {
+    counter = 0;
+    Notifier notifier = new Notifier(() -> ++counter);
+    notifier.startSingle(1.0);
+
+    Timer.delay(10.5);
+
+    assertEquals("Received " + counter + " notifications in 10.5 seconds\n", 1, counter);
+    System.out.println("Received " + counter + " notifications in 10.5 seconds");
+
+    notifier.close();
+  }
+}