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42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/commands2/button/POVButton.hpp"
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#include <gtest/gtest.h>
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#include "CommandTestBase.hpp"
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#include "wpi/commands2/CommandScheduler.hpp"
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#include "wpi/commands2/WaitUntilCommand.hpp"
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#include "wpi/driverstation/Joystick.hpp"
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#include "wpi/simulation/JoystickSim.hpp"
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using namespace wpi::cmd;
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class POVButtonTest : public CommandTestBase {};
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TEST_F(POVButtonTest, SetPOV) {
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wpi::sim::JoystickSim joysim(1);
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joysim.SetPOV(wpi::POVDirection::UP);
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joysim.NotifyNewData();
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auto& scheduler = CommandScheduler::GetInstance();
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bool finished = false;
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WaitUntilCommand command([&finished] { return finished; });
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wpi::Joystick joy(1);
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POVButton(&joy, wpi::POVDirection::RIGHT).OnTrue(&command);
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scheduler.Run();
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EXPECT_FALSE(scheduler.IsScheduled(&command));
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joysim.SetPOV(wpi::POVDirection::RIGHT);
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joysim.NotifyNewData();
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scheduler.Run();
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EXPECT_TRUE(scheduler.IsScheduled(&command));
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finished = true;
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scheduler.Run();
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EXPECT_FALSE(scheduler.IsScheduled(&command));
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}
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