allwpilib/commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package org.wpilib;

import org.junit.jupiter.api.extension.BeforeAllCallback;
import org.junit.jupiter.api.extension.ExtensionContext;
import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.RobotMode;
import org.wpilib.simulation.DriverStationSim;

public final class MockHardwareExtension implements BeforeAllCallback {
  private static ExtensionContext getRoot(ExtensionContext context) {
    return context.getParent().map(MockHardwareExtension::getRoot).orElse(context);
  }

  @Override
  public void beforeAll(ExtensionContext context) {
    getRoot(context)
        .getStore(Namespace.GLOBAL)
        .getOrComputeIfAbsent(
            "HAL Initialized",
            key -> {
              initializeHardware();
              return true;
            },
            Boolean.class);
  }

  private void initializeHardware() {
    HAL.initialize(500, 0);
    DriverStationSim.setDsAttached(true);
    DriverStationSim.setEnabled(true);
    DriverStationSim.setRobotMode(RobotMode.UTILITY);
    DriverStationSim.notifyNewData();
  }
}