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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <cstdlib>
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#include <hal/HAL.h>
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#include <wpi/raw_ostream.h>
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#include "frc/DriverStation.h"
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#include "frc/Timer.h"
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#include "frc/livewindow/LiveWindow.h"
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#include "gtest/gtest.h"
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#include "mockds/MockDS.h"
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using namespace frc;
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class TestEnvironment : public testing::Environment {
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bool m_alreadySetUp = false;
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MockDS m_mockDS;
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public:
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void SetUp() override {
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/* Only set up once. This allows gtest_repeat to be used to
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automatically repeat tests. */
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if (m_alreadySetUp) return;
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m_alreadySetUp = true;
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if (!HAL_Initialize(500, 0)) {
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wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
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std::exit(-1);
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}
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m_mockDS.start();
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/* This sets up the network communications library to enable the driver
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station. After starting network coms, it will loop until the driver
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station returns that the robot is enabled, to ensure that tests
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will be able to run on the hardware. */
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HAL_ObserveUserProgramStarting();
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LiveWindow::GetInstance()->SetEnabled(false);
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wpi::outs() << "Started coms\n";
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int enableCounter = 0;
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while (!DriverStation::GetInstance().IsEnabled()) {
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if (enableCounter > 50) {
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// Robot did not enable properly after 5 seconds.
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// Force exit
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wpi::errs() << " Failed to enable. Aborting\n";
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std::terminate();
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}
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Wait(0.1);
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wpi::outs() << "Waiting for enable: " << enableCounter++ << "\n";
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}
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}
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void TearDown() override { m_mockDS.stop(); }
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};
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testing::Environment* const environment =
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testing::AddGlobalTestEnvironment(new TestEnvironment);
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