New 2018 and later build setup (#1001)

wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp

@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <cstdlib>
+
+#include <HAL/HAL.h>
+#include <llvm/raw_ostream.h>
+
+#include "DriverStation.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+#include "gtest/gtest.h"
+#include "mockds/MockDS.h"
+
+using namespace frc;
+
+class TestEnvironment : public testing::Environment {
+  bool m_alreadySetUp = false;
+  MockDS m_mockDS;
+
+ public:
+  void SetUp() override {
+    /* Only set up once.  This allows gtest_repeat to be used to
+            automatically repeat tests. */
+    if (m_alreadySetUp) return;
+    m_alreadySetUp = true;
+
+    if (!HAL_Initialize(500, 0)) {
+      llvm::errs() << "FATAL ERROR: HAL could not be initialized\n";
+      std::exit(-1);
+    }
+
+    m_mockDS.start();
+
+    /* This sets up the network communications library to enable the driver
+            station. After starting network coms, it will loop until the driver
+            station returns that the robot is enabled, to ensure that tests
+            will be able to run on the hardware. */
+    HAL_ObserveUserProgramStarting();
+    LiveWindow::GetInstance()->SetEnabled(false);
+
+    llvm::outs() << "Started coms\n";
+
+    int enableCounter = 0;
+    while (!DriverStation::GetInstance().IsEnabled()) {
+      if (enableCounter > 50) {
+        // Robot did not enable properly after 5 seconds.
+        // Force exit
+        llvm::errs() << " Failed to enable. Aborting\n";
+        std::terminate();
+      }
+
+      Wait(0.1);
+
+      llvm::outs() << "Waiting for enable: " << enableCounter++ << "\n";
+    }
+  }
+
+  void TearDown() override { m_mockDS.stop(); }
+};
+
+testing::Environment* const environment =
+    testing::AddGlobalTestEnvironment(new TestEnvironment);