Adds a test to make sure WaitForData is properly waiting (#258)

wpilibcIntegrationTests/src/DriverStationTest.cpp

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2016. 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 "DriverStation.h"  // NOLINT(build/include_order)
+
+#include "TestBench.h"
+#include "Utility.h"
+#include "gtest/gtest.h"
+
+constexpr double TIMER_TOLERANCE = 0.2;
+constexpr int64_t TIMER_RUNTIME = 1000000;  // 1 second
+
+class DriverStationTest : public testing::Test {};
+
+/**
+ * Test if the WaitForData function works
+ */
+TEST_F(DriverStationTest, WaitForData) {
+  uint64_t initialTime = GetFPGATime();
+
+  for (int i = 0; i < 50; i++) {
+    DriverStation::GetInstance().WaitForData();
+  }
+
+  uint64_t finalTime = GetFPGATime();
+
+  EXPECT_NEAR(TIMER_RUNTIME, finalTime - initialTime,
+              TIMER_TOLERANCE * TIMER_RUNTIME);
+}

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

@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import org.junit.Test;
+
+import java.util.logging.Logger;
+
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+
+import static org.junit.Assert.assertEquals;
+
+
+public class DriverStationTest extends AbstractComsSetup {
+  private static final Logger logger = Logger.getLogger(TimerTest.class.getName());
+  private static final double TIMER_TOLERANCE = 0.2;
+  private static final long TIMER_RUNTIME = 1000000; // 1 second
+
+  @Override
+  protected Logger getClassLogger() {
+    return logger;
+  }
+
+  @Test
+  public void waitForDataTest() {
+    long startTime = Utility.getFPGATime();
+
+    // Wait for data 50 times
+    for (int i = 0; i < 50; i++) {
+      DriverStation.getInstance().waitForData();
+    }
+    long endTime = Utility.getFPGATime();
+    long difference = endTime - startTime;
+
+    assertEquals("DriverStation waitForData did not wait long enough", TIMER_RUNTIME, difference,
+        TIMER_TOLERANCE * TIMER_RUNTIME);
+  }
+
+}

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

@@ -21,10 +21,10 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
 @SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
     BuiltInAccelerometerTest.class, CANTalonTest.class,
     CircularBufferTest.class, ConstantsPortsTest.class, CounterTest.class,
-    DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, EncoderTest.class,
-    FilterNoiseTest.class, FilterOutputTest.class, GyroTest.class, MotorEncoderTest.class,
-    MotorInvertingTest.class, PCMTest.class, PDPTest.class, PIDTest.class,
-    PIDToleranceTest.class, PreferencesTest.class, RelayCrossConnectTest.class,
+    DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, DriverStationTest.class,
+    EncoderTest.class, FilterNoiseTest.class, FilterOutputTest.class, GyroTest.class,
+    MotorEncoderTest.class, MotorInvertingTest.class, PCMTest.class, PDPTest.class,
+    PIDTest.class, PIDToleranceTest.class, PreferencesTest.class, RelayCrossConnectTest.class,
     SampleTest.class, TimerTest.class})
 public class WpiLibJTestSuite extends AbstractTestSuite {
 }