Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp b/wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
new file mode 100644
index 0000000..2bfe1b3
--- /dev/null
+++ b/wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 <cstdlib>
+
+#include <hal/HAL.h>
+#include <wpi/raw_ostream.h>
+
+#include "frc/DriverStation.h"
+#include "frc/Timer.h"
+#include "frc/livewindow/LiveWindow.h"
+#include "gtest/gtest.h"
+#include "mockds/MockDS.h"
+
+using namespace frc;
+
+class TestEnvironment : public testing::Environment {
+ bool m_alreadySetUp = false;
+ MockDS m_mockDS;
+
+ public:
+ void SetUp() override {
+ /* Only set up once. This allows gtest_repeat to be used to
+ automatically repeat tests. */
+ if (m_alreadySetUp) return;
+ m_alreadySetUp = true;
+
+ if (!HAL_Initialize(500, 0)) {
+ wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
+ std::exit(-1);
+ }
+
+ m_mockDS.start();
+
+ /* This sets up the network communications library to enable the driver
+ station. After starting network coms, it will loop until the driver
+ station returns that the robot is enabled, to ensure that tests
+ will be able to run on the hardware. */
+ HAL_ObserveUserProgramStarting();
+ LiveWindow::GetInstance()->SetEnabled(false);
+
+ wpi::outs() << "Started coms\n";
+
+ int enableCounter = 0;
+ while (!DriverStation::GetInstance().IsEnabled()) {
+ if (enableCounter > 50) {
+ // Robot did not enable properly after 5 seconds.
+ // Force exit
+ wpi::errs() << " Failed to enable. Aborting\n";
+ std::terminate();
+ }
+
+ Wait(0.1);
+
+ wpi::outs() << "Waiting for enable: " << enableCounter++ << "\n";
+ }
+ }
+
+ void TearDown() override { m_mockDS.stop(); }
+};
+
+testing::Environment* const environment =
+ testing::AddGlobalTestEnvironment(new TestEnvironment);