| // 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. |
| |
| #include "frc/DriverStation.h" // NOLINT(build/include_order) |
| |
| #include <units/math.h> |
| #include <units/time.h> |
| |
| #include "TestBench.h" |
| #include "frc/RobotController.h" |
| #include "gtest/gtest.h" |
| |
| #define EXPECT_NEAR_UNITS(val1, val2, eps) \ |
| EXPECT_LE(units::math::abs(val1 - val2), eps) |
| |
| /** |
| * Test if the WaitForData function works |
| */ |
| TEST(DriverStationTest, WaitForData) { |
| units::microsecond_t initialTime(frc::RobotController::GetFPGATime()); |
| |
| // 20ms waiting intervals * 50 = 1s |
| for (int i = 0; i < 50; i++) { |
| frc::DriverStation::WaitForData(); |
| } |
| |
| units::microsecond_t finalTime(frc::RobotController::GetFPGATime()); |
| |
| EXPECT_NEAR_UNITS(1_s, finalTime - initialTime, 200_ms); |
| } |