mirror of
https://github.com/wpilibsuite/allwpilib
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615 lines
20 KiB
C++
615 lines
20 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 "frc/TimedRobot.h" // NOLINT(build/include_order)
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#include <stdint.h>
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#include <atomic>
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#include <thread>
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#include "frc/livewindow/LiveWindow.h"
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#include "frc/simulation/DriverStationSim.h"
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#include "frc/simulation/SimHooks.h"
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#include "gtest/gtest.h"
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using namespace frc;
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inline constexpr auto kPeriod = 20_ms;
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namespace {
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class TimedRobotTest : public ::testing::TestWithParam<bool> {
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protected:
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void SetUp() override { frc::sim::PauseTiming(); }
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void TearDown() override { frc::sim::ResumeTiming(); }
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};
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class MockRobot : public TimedRobot {
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public:
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std::atomic<uint32_t> m_robotInitCount{0};
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std::atomic<uint32_t> m_simulationInitCount{0};
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std::atomic<uint32_t> m_disabledInitCount{0};
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std::atomic<uint32_t> m_autonomousInitCount{0};
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std::atomic<uint32_t> m_teleopInitCount{0};
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std::atomic<uint32_t> m_testInitCount{0};
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std::atomic<uint32_t> m_disabledExitCount{0};
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std::atomic<uint32_t> m_autonomousExitCount{0};
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std::atomic<uint32_t> m_teleopExitCount{0};
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std::atomic<uint32_t> m_testExitCount{0};
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std::atomic<uint32_t> m_robotPeriodicCount{0};
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std::atomic<uint32_t> m_simulationPeriodicCount{0};
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std::atomic<uint32_t> m_disabledPeriodicCount{0};
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std::atomic<uint32_t> m_autonomousPeriodicCount{0};
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std::atomic<uint32_t> m_teleopPeriodicCount{0};
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std::atomic<uint32_t> m_testPeriodicCount{0};
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MockRobot() : TimedRobot{kPeriod} {}
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void RobotInit() override { m_robotInitCount++; }
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void SimulationInit() override { m_simulationInitCount++; }
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void DisabledInit() override { m_disabledInitCount++; }
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void AutonomousInit() override { m_autonomousInitCount++; }
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void TeleopInit() override { m_teleopInitCount++; }
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void TestInit() override { m_testInitCount++; }
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void RobotPeriodic() override { m_robotPeriodicCount++; }
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void SimulationPeriodic() override { m_simulationPeriodicCount++; }
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void DisabledPeriodic() override { m_disabledPeriodicCount++; }
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void AutonomousPeriodic() override { m_autonomousPeriodicCount++; }
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void TeleopPeriodic() override { m_teleopPeriodicCount++; }
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void TestPeriodic() override { m_testPeriodicCount++; }
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void DisabledExit() override { m_disabledExitCount++; }
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void AutonomousExit() override { m_autonomousExitCount++; }
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void TeleopExit() override { m_teleopExitCount++; }
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void TestExit() override { m_testExitCount++; }
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};
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} // namespace
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TEST_F(TimedRobotTest, DisabledMode) {
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MockRobot robot;
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(1u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(1u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(2u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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robot.EndCompetition();
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robotThread.join();
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}
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TEST_F(TimedRobotTest, AutonomousMode) {
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MockRobot robot;
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(true);
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frc::sim::DriverStationSim::SetAutonomous(true);
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frc::sim::DriverStationSim::SetTest(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(1u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(1u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(1u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(2u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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robot.EndCompetition();
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robotThread.join();
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}
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TEST_F(TimedRobotTest, TeleopMode) {
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MockRobot robot;
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(true);
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frc::sim::DriverStationSim::SetAutonomous(false);
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frc::sim::DriverStationSim::SetTest(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(1u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(1u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(1u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(2u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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robot.EndCompetition();
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robotThread.join();
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}
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TEST_P(TimedRobotTest, TestMode) {
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bool isTestLW = GetParam();
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MockRobot robot;
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robot.EnableLiveWindowInTest(isTestLW);
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(true);
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frc::sim::DriverStationSim::SetAutonomous(false);
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frc::sim::DriverStationSim::SetTest(true);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_FALSE(frc::LiveWindow::IsEnabled());
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(1u, robot.m_testInitCount);
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EXPECT_EQ(isTestLW, frc::LiveWindow::IsEnabled());
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EXPECT_THROW(robot.EnableLiveWindowInTest(isTestLW), std::runtime_error);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(1u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::StepTiming(kPeriod);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(1u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(2u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(0u, robot.m_testExitCount);
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frc::sim::DriverStationSim::SetEnabled(false);
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frc::sim::DriverStationSim::SetAutonomous(false);
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frc::sim::DriverStationSim::SetTest(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(20_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(1u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(1u, robot.m_testInitCount);
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EXPECT_FALSE(frc::LiveWindow::IsEnabled());
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EXPECT_EQ(3u, robot.m_robotPeriodicCount);
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EXPECT_EQ(3u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(2u, robot.m_testPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledExitCount);
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EXPECT_EQ(0u, robot.m_autonomousExitCount);
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EXPECT_EQ(0u, robot.m_teleopExitCount);
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EXPECT_EQ(1u, robot.m_testExitCount);
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|
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robot.EndCompetition();
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robotThread.join();
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}
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|
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TEST_F(TimedRobotTest, ModeChange) {
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MockRobot robot;
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|
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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// Start in disabled
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frc::sim::DriverStationSim::SetEnabled(false);
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frc::sim::DriverStationSim::SetAutonomous(false);
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frc::sim::DriverStationSim::SetTest(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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|
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|
EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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|
EXPECT_EQ(0u, robot.m_teleopInitCount);
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|
EXPECT_EQ(0u, robot.m_testInitCount);
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|
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|
EXPECT_EQ(0u, robot.m_disabledExitCount);
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|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
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|
EXPECT_EQ(0u, robot.m_teleopExitCount);
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|
EXPECT_EQ(0u, robot.m_testExitCount);
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|
|
|
frc::sim::StepTiming(kPeriod);
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|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
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|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
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|
EXPECT_EQ(0u, robot.m_teleopInitCount);
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|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
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|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
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|
EXPECT_EQ(0u, robot.m_teleopExitCount);
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|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to autonomous
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|
frc::sim::DriverStationSim::SetEnabled(true);
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|
frc::sim::DriverStationSim::SetAutonomous(true);
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|
frc::sim::DriverStationSim::SetTest(false);
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|
frc::sim::DriverStationSim::NotifyNewData();
|
|
|
|
frc::sim::StepTiming(kPeriod);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
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|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to teleop
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
|
|
frc::sim::StepTiming(kPeriod);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to test
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(true);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
|
|
frc::sim::StepTiming(kPeriod);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(1u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to disabled
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
|
|
frc::sim::StepTiming(kPeriod);
|
|
|
|
EXPECT_EQ(2u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(1u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(1u, robot.m_testExitCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, AddPeriodic) {
|
|
MockRobot robot;
|
|
|
|
std::atomic<uint32_t> callbackCount{0};
|
|
robot.AddPeriodic([&] { callbackCount++; }, kPeriod / 2.0);
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, callbackCount);
|
|
|
|
frc::sim::StepTiming(kPeriod / 2.0);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(1u, callbackCount);
|
|
|
|
frc::sim::StepTiming(kPeriod / 2.0);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(2u, callbackCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
|
|
MockRobot robot;
|
|
|
|
std::atomic<uint32_t> callbackCount{0};
|
|
robot.AddPeriodic([&] { callbackCount++; }, kPeriod / 2.0, kPeriod / 4.0);
|
|
|
|
// Expirations in this test (ms)
|
|
//
|
|
// Robot | Callback
|
|
// ================
|
|
// p | 0.75p
|
|
// 2p | 1.25p
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, callbackCount);
|
|
|
|
frc::sim::StepTiming(kPeriod * 3.0 / 8.0);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, callbackCount);
|
|
|
|
frc::sim::StepTiming(kPeriod * 3.0 / 8.0);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(1u, callbackCount);
|
|
|
|
frc::sim::StepTiming(kPeriod / 4.0);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(1u, callbackCount);
|
|
|
|
frc::sim::StepTiming(kPeriod / 4.0);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(2u, callbackCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
INSTANTIATE_TEST_SUITE_P(TimedRobotTests, TimedRobotTest, testing::Bool());
|