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);
+}