Move CameraServer and WPILib headers into their own folder

The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
2026-06-20 00:51:42 +00:00 · 2018-07-20 00:03:45 -07:00
parent 31ced30c1e
commit d89b7dd412
728 changed files with 1876 additions and 1851 deletions
--- a/hal/src/test/native/cpp/mockdata/DriverStationDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/DriverStationDataTests.cpp
@@ -0,0 +1,143 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 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 <cstring>
+
+#include "gtest/gtest.h"
+#include "hal/HAL.h"
+#include "hal/Solenoid.h"
+#include "mockdata/DriverStationData.h"
+
+namespace hal {
+
+TEST(DriverStationTests, JoystickTests) {
+  HAL_JoystickAxes axes;
+  HAL_JoystickPOVs povs;
+  HAL_JoystickButtons buttons;
+
+  // Check default values before anything has been set
+  for (int joystickNum = 0; joystickNum < 6; ++joystickNum) {
+    HAL_GetJoystickAxes(joystickNum, &axes);
+    HAL_GetJoystickPOVs(joystickNum, &povs);
+    HAL_GetJoystickButtons(joystickNum, &buttons);
+
+    EXPECT_EQ(0, axes.count);
+    for (int i = 0; i < HAL_kMaxJoystickAxes; ++i) {
+      EXPECT_EQ(0, axes.axes[i]);
+    }
+
+    EXPECT_EQ(0, povs.count);
+    for (int i = 0; i < HAL_kMaxJoystickPOVs; ++i) {
+      EXPECT_EQ(0, povs.povs[i]);
+    }
+
+    EXPECT_EQ(0, buttons.count);
+    EXPECT_EQ(0u, buttons.buttons);
+  }
+
+  HAL_JoystickAxes set_axes;
+  std::memset(&set_axes, 0, sizeof(HAL_JoystickAxes));
+  HAL_JoystickPOVs set_povs;
+  std::memset(&set_povs, 0, sizeof(HAL_JoystickPOVs));
+  HAL_JoystickButtons set_buttons;
+  std::memset(&set_buttons, 0, sizeof(HAL_JoystickButtons));
+
+  // Set values
+  int joystickUnderTest = 4;
+  set_axes.count = 5;
+  for (int i = 0; i < set_axes.count; ++i) {
+    set_axes.axes[i] = i * .125;
+  }
+
+  set_povs.count = 3;
+  for (int i = 0; i < set_povs.count; ++i) {
+    set_povs.povs[i] = i * 15 + 12;
+  }
+
+  set_buttons.count = 8;
+  set_buttons.buttons = 0xDEADBEEF;
+
+  HALSIM_SetJoystickAxes(joystickUnderTest, &set_axes);
+  HALSIM_SetJoystickPOVs(joystickUnderTest, &set_povs);
+  HALSIM_SetJoystickButtons(joystickUnderTest, &set_buttons);
+
+  // Check the set values
+  HAL_GetJoystickAxes(joystickUnderTest, &axes);
+  HAL_GetJoystickPOVs(joystickUnderTest, &povs);
+  HAL_GetJoystickButtons(joystickUnderTest, &buttons);
+
+  EXPECT_EQ(5, axes.count);
+  EXPECT_NEAR(0.000, axes.axes[0], 0.000001);
+  EXPECT_NEAR(0.125, axes.axes[1], 0.000001);
+  EXPECT_NEAR(0.250, axes.axes[2], 0.000001);
+  EXPECT_NEAR(0.375, axes.axes[3], 0.000001);
+  EXPECT_NEAR(0.500, axes.axes[4], 0.000001);
+  EXPECT_NEAR(0, axes.axes[5], 0.000001);  // Should not have been set, still 0
+  EXPECT_NEAR(0, axes.axes[6], 0.000001);  // Should not have been set, still 0
+
+  EXPECT_EQ(3, povs.count);
+  EXPECT_EQ(12, povs.povs[0]);
+  EXPECT_EQ(27, povs.povs[1]);
+  EXPECT_EQ(42, povs.povs[2]);
+  EXPECT_EQ(0, povs.povs[3]);  // Should not have been set, still 0
+  EXPECT_EQ(0, povs.povs[4]);  // Should not have been set, still 0
+  EXPECT_EQ(0, povs.povs[5]);  // Should not have been set, still 0
+  EXPECT_EQ(0, povs.povs[6]);  // Should not have been set, still 0
+
+  EXPECT_EQ(8, buttons.count);
+  EXPECT_EQ(0xDEADBEEFu, buttons.buttons);
+
+  // Reset
+  HALSIM_ResetDriverStationData();
+  for (int joystickNum = 0; joystickNum < 6; ++joystickNum) {
+    HAL_GetJoystickAxes(joystickNum, &axes);
+    HAL_GetJoystickPOVs(joystickNum, &povs);
+    HAL_GetJoystickButtons(joystickNum, &buttons);
+
+    EXPECT_EQ(0, axes.count);
+    for (int i = 0; i < HAL_kMaxJoystickAxes; ++i) {
+      EXPECT_EQ(0, axes.axes[i]);
+    }
+
+    EXPECT_EQ(0, povs.count);
+    for (int i = 0; i < HAL_kMaxJoystickPOVs; ++i) {
+      EXPECT_EQ(0, povs.povs[i]);
+    }
+
+    EXPECT_EQ(0, buttons.count);
+    EXPECT_EQ(0u, buttons.buttons);
+  }
+}
+
+TEST(DriverStationTests, EventInfoTest) {
+  std::string eventName = "UnitTest";
+  std::string gameData = "Insert game specific info here :D";
+  HAL_MatchInfo info;
+  std::snprintf(info.eventName, sizeof(info.eventName), "%s",
+                eventName.c_str());
+  std::snprintf(reinterpret_cast<char*>(info.gameSpecificMessage),
+                sizeof(info.gameSpecificMessage), "%s", gameData.c_str());
+  info.gameSpecificMessageSize = gameData.size();
+  info.matchNumber = 5;
+  info.matchType = HAL_MatchType::HAL_kMatchType_qualification;
+  info.replayNumber = 42;
+  HALSIM_SetMatchInfo(&info);
+
+  HAL_MatchInfo dataBack;
+  HAL_GetMatchInfo(&dataBack);
+
+  std::string gsm{reinterpret_cast<char*>(dataBack.gameSpecificMessage),
+                  dataBack.gameSpecificMessageSize};
+
+  EXPECT_STREQ(eventName.c_str(), dataBack.eventName);
+  EXPECT_EQ(gameData, gsm);
+  EXPECT_EQ(5, dataBack.matchNumber);
+  EXPECT_EQ(HAL_MatchType::HAL_kMatchType_qualification, dataBack.matchType);
+  EXPECT_EQ(42, dataBack.replayNumber);
+}
+
+}  // namespace hal