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[wpilibc] Transition C++ classes to units::second_t (#3396)

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A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This commit is contained in:
Tyler Veness
2021-05-28 22:06:59 -07:00
committed by GitHub
parent 827b17a52b
commit e09293a15e
99 changed files with 503 additions and 790 deletions
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21
wpilibcIntegrationTests/src/main/native/cpp/DriverStationTest.cpp
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@@ -4,29 +4,30 @@
#include "frc/DriverStation.h" // NOLINT(build/include_order)
#include <units/math.h>
#include <units/time.h>
#include "TestBench.h"
#include "frc/RobotController.h"
#include "gtest/gtest.h"
#define EXPECT_NEAR_UNITS(val1, val2, eps) \
EXPECT_LE(units::math::abs(val1 - val2), eps)
using namespace frc;
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 = RobotController::GetFPGATime();
TEST(DriverStationTest, WaitForData) {
units::microsecond_t initialTime(RobotController::GetFPGATime());
// 20ms waiting intervals * 50 = 1s
for (int i = 0; i < 50; i++) {
DriverStation::GetInstance().WaitForData();
}
uint64_t finalTime = RobotController::GetFPGATime();
units::microsecond_t finalTime(RobotController::GetFPGATime());
EXPECT_NEAR(TIMER_RUNTIME, finalTime - initialTime,
TIMER_TOLERANCE * TIMER_RUNTIME);
EXPECT_NEAR_UNITS(1_s, finalTime - initialTime, 200_ms);
}