Move constants to JSON file
Change-Id: Icdfc76712bbec326823f1536d0b9fd890f4002f7
Signed-off-by: Henry Speiser <100027428@mvla.net>
Signed-off-by: Henry Speiser <henry@speiser.net>
diff --git a/frc971/constants/constants_sender_test.cc b/frc971/constants/constants_sender_test.cc
new file mode 100644
index 0000000..3edc320
--- /dev/null
+++ b/frc971/constants/constants_sender_test.cc
@@ -0,0 +1,97 @@
+#include "aos/configuration.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/testing/path.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/constants/testdata/constants_data_generated.h"
+#include "frc971/constants/testdata/constants_list_generated.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace frc971::constants {
+namespace testing {
+
+using aos::testing::ArtifactPath;
+
+class ConstantSenderTest : public ::testing::Test {
+ public:
+ ConstantSenderTest()
+ : config_(aos::configuration::ReadConfig(
+ ArtifactPath("frc971/constants/testdata/aos_config.json"))),
+ event_loop_factory_(&config_.message()),
+ constants_sender_event_loop_(
+ event_loop_factory_.MakeEventLoop("sender")) {}
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config_;
+ aos::SimulatedEventLoopFactory event_loop_factory_;
+ std::unique_ptr<aos::EventLoop> constants_sender_event_loop_;
+};
+
+// For team 971, compares the data that is recived from the program, to the data
+// that is expected
+
+TEST_F(ConstantSenderTest, HasData971) {
+ aos::network::OverrideTeamNumber(971);
+
+ std::unique_ptr<aos::EventLoop> test_event_loop =
+ event_loop_factory_.MakeEventLoop("constants");
+ ConstantSender<testdata::ConstantsData, testdata::ConstantsList> test971(
+ constants_sender_event_loop_.get(),
+ "frc971/constants/testdata/test_constants.json", "/constants");
+ test_event_loop->MakeWatcher("/constants",
+ [](const testdata::ConstantsData &data) {
+ EXPECT_EQ(data.max_roller_voltage(), 12);
+ EXPECT_EQ(data.min_roller_voltage(), -12);
+ });
+ event_loop_factory_.RunFor(std::chrono::seconds(1));
+}
+
+// For team 9971, compares the data that is recived from the program, to the
+// data that is expected.
+
+TEST_F(ConstantSenderTest, HasData9971) {
+ std::unique_ptr<aos::EventLoop> test_event_loop =
+ event_loop_factory_.MakeEventLoop("constants");
+ ConstantSender<testdata::ConstantsData, testdata::ConstantsList> test971(
+ constants_sender_event_loop_.get(),
+ "frc971/constants/testdata/test_constants.json", 9971, "/constants");
+ test_event_loop->MakeWatcher("/constants",
+ [](const testdata::ConstantsData &data) {
+ EXPECT_EQ(data.max_roller_voltage(), 6);
+ EXPECT_EQ(data.min_roller_voltage(), -6);
+ });
+ event_loop_factory_.RunFor(std::chrono::seconds(1));
+}
+
+// When given a team number that it not recognized we kill the program.
+
+TEST_F(ConstantSenderTest, TeamNotFound) {
+ EXPECT_DEATH(
+ ({
+ ConstantSender<testdata::ConstantsData, testdata::ConstantsList>
+ test_no_team(constants_sender_event_loop_.get(),
+ "frc971/constants/testdata/test_constants.json", 254,
+ "/constants");
+ event_loop_factory_.RunFor(std::chrono::seconds(1));
+ }),
+ "There was no match for 254");
+}
+
+// If the json file has syntax errors it will die.
+
+TEST_F(ConstantSenderTest, SyntaxErrorDeath) {
+ EXPECT_DEATH(
+ ({
+ ConstantSender<testdata::ConstantsData, testdata::ConstantsList>
+ test_syntax(constants_sender_event_loop_.get(),
+ "frc971/constants/testdata/syntaxerror.json", 971,
+ "/constants");
+ event_loop_factory_.RunFor(std::chrono::seconds(1));
+ }),
+ "Error on line 0");
+}
+
+} // namespace testing
+} // namespace frc971::constants