Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilibc] Clean up integration tests (#3400)

Browse Source 
The command and shuffleboard integration tests were removed because
their unit tests counterparts already provide adequate coverage. Java
already removed these.
This commit is contained in:
Tyler Veness
2021-05-31 10:21:34 -07:00
committed by GitHub
parent 4f7a4464df
commit 93523d572e
38 changed files with 662 additions and 2232 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
View File

@@ -3,63 +3,63 @@
// the WPILib BSD license file in the root directory of this project.
#include <cstdlib>
#include <thread>
#include <fmt/core.h>
#include <hal/HAL.h>
#include <wpi/raw_ostream.h>
#include "frc/DriverStation.h"
#include "frc/Timer.h"
#include "frc/livewindow/LiveWindow.h"
#include "gtest/gtest.h"
#include "mockds/MockDS.h"
using namespace frc;
using namespace std::chrono_literals;
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. */
TestEnvironment() {
// 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)) {
wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
fmt::print(stderr, "FATAL ERROR: HAL could not be initialized\n");
std::exit(-1);
}
m_mockDS.start();
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. */
// 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);
frc::LiveWindow::GetInstance()->SetEnabled(false);
wpi::outs() << "Started coms\n";
fmt::print("Started coms\n");
int enableCounter = 0;
while (!DriverStation::GetInstance().IsEnabled()) {
while (!frc::DriverStation::GetInstance().IsEnabled()) {
if (enableCounter > 50) {
// Robot did not enable properly after 5 seconds.
// Force exit
wpi::errs() << " Failed to enable. Aborting\n";
fmt::print(stderr, " Failed to enable. Aborting\n");
std::terminate();
}
Wait(0.1_s);
std::this_thread::sleep_for(100ms);
wpi::outs() << "Waiting for enable: " << enableCounter++ << "\n";
fmt::print("Waiting for enable: {}\n", enableCounter++);
}
}
void TearDown() override { m_mockDS.stop(); }
~TestEnvironment() { m_mockDS.Stop(); }
};
testing::Environment* const environment =