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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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100
wpilibcIntegrationTests/src/FRCUserProgram/cpp/command/ConditionalCommandTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2017. 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>
#include <RobotState.h>
#include "Commands/ConditionalCommand.h"
#include "Commands/Scheduler.h"
#include "command/MockCommand.h"
#include "command/MockConditionalCommand.h"
#include "gtest/gtest.h"
using namespace frc;
class ConditionalCommandTest : public testing::Test {
public:
MockConditionalCommand* m_command;
MockCommand* m_onTrue;
MockCommand* m_onFalse;
protected:
void SetUp() override {
RobotState::SetImplementation(DriverStation::GetInstance());
Scheduler::GetInstance()->SetEnabled(true);
m_onTrue = new MockCommand();
m_onFalse = new MockCommand();
m_command = new MockConditionalCommand(m_onTrue, m_onFalse);
}
void TearDown() override { delete m_command; }
/**
* Tears Down the Scheduler at the end of each test.
*
* Must be called at the end of each test inside each test in order to prevent
* them being deallocated when they leave the scope of the test (causing a
* segfault). This cannot be done within the virtual void Teardown() method
* because it is called outside of the scope of the test.
*/
void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); }
void AssertCommandState(MockCommand& command, int32_t initialize,
int32_t execute, int32_t isFinished, int32_t end,
int32_t interrupted) {
EXPECT_EQ(initialize, command.GetInitializeCount());
EXPECT_EQ(execute, command.GetExecuteCount());
EXPECT_EQ(isFinished, command.GetIsFinishedCount());
EXPECT_EQ(end, command.GetEndCount());
EXPECT_EQ(interrupted, command.GetInterruptedCount());
}
};
TEST_F(ConditionalCommandTest, OnTrueTest) {
m_command->SetCondition(true);
Scheduler::GetInstance()->AddCommand(m_command);
AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run(); // init command and select m_onTrue
AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run(); // init m_onTrue
AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(*m_onTrue, 1, 1, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(*m_onTrue, 1, 2, 4, 0, 0);
EXPECT_TRUE(m_onTrue->GetInitializeCount() > 0)
<< "Did not initialize the true command\n";
EXPECT_TRUE(m_onFalse->GetInitializeCount() == 0)
<< "Initialized the false command\n";
TeardownScheduler();
}
TEST_F(ConditionalCommandTest, OnFalseTest) {
m_command->SetCondition(false);
Scheduler::GetInstance()->AddCommand(m_command);
AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run(); // init command and select m_onTrue
AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run(); // init m_onTrue
AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(*m_onFalse, 1, 1, 2, 0, 0);
Scheduler::GetInstance()->Run();
AssertCommandState(*m_onFalse, 1, 2, 4, 0, 0);
EXPECT_TRUE(m_onFalse->GetInitializeCount() > 0)
<< "Did not initialize the false command";
EXPECT_TRUE(m_onTrue->GetInitializeCount() == 0)
<< "Initialized the true command";
TeardownScheduler();
}