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Fix C++ POVButton (#2294)

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Also add unit test.
This commit is contained in:
Peter Johnson
2020-01-20 21:35:19 -08:00
committed by GitHub
parent d0cf4e8882
commit b9b31069cc
2 changed files with 48 additions and 1 deletions
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2
wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
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@@ -28,7 +28,7 @@ class POVButton : public Button {
*/
POVButton(frc::GenericHID* joystick, int angle, int povNumber = 0)
: Button([joystick, angle, povNumber] {
joystick->GetPOV(povNumber) == angle;
return joystick->GetPOV(povNumber) == angle;
}) {}
};
} // namespace frc2

47
wpilibNewCommands/src/test/native/cpp/frc2/command/POVButtonTest.cpp Normal file
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@@ -0,0 +1,47 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 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 <frc/Joystick.h>
#include <mockdata/DriverStationData.h>
#include "CommandTestBase.h"
#include "frc2/command/CommandScheduler.h"
#include "frc2/command/RunCommand.h"
#include "frc2/command/WaitUntilCommand.h"
#include "frc2/command/button/POVButton.h"
#include "gtest/gtest.h"
using namespace frc2;
class POVButtonTest : public CommandTestBase {};
TEST_F(POVButtonTest, SetPOVTest) {
HAL_JoystickPOVs povs;
povs.count = 1;
povs.povs[0] = 0;
HALSIM_SetJoystickPOVs(1, &povs);
HALSIM_NotifyDriverStationNewData();
auto& scheduler = CommandScheduler::GetInstance();
bool finished = false;
WaitUntilCommand command([&finished] { return finished; });
frc::Joystick joy(1);
POVButton(&joy, 90).WhenPressed(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
povs.povs[0] = 90;
HALSIM_SetJoystickPOVs(1, &povs);
HALSIM_NotifyDriverStationNewData();
scheduler.Run();
EXPECT_TRUE(scheduler.IsScheduled(&command));
finished = true;
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
}