correctly set the team number for tests
Without this, it's going to pick some random team number on some
computers and fail on others (depending on the network configuration).
Change-Id: I182ed50299170de737812eadee68ff418e6518e6
diff --git a/frc971/control_loops/claw/claw.gyp b/frc971/control_loops/claw/claw.gyp
index e8e3276..a3e556a 100644
--- a/frc971/control_loops/claw/claw.gyp
+++ b/frc971/control_loops/claw/claw.gyp
@@ -49,6 +49,7 @@
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
'<(AOS)/common/controls/controls.gyp:control_loop_test',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:position_sensor_sim',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
],
},
{
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index 8d0ac78..ca610d9 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -9,6 +9,7 @@
#include "frc971/control_loops/claw/claw.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/constants.h"
+#include "frc971/control_loops/team_number_test_environment.h"
using ::aos::time::Time;
@@ -76,7 +77,9 @@
".frc971.control_loops.claw_queue.output",
".frc971.control_loops.claw_queue.status"),
claw_(&claw_queue_),
- claw_plant_() {}
+ claw_plant_() {
+ set_team_id(kTeamNumber);
+ }
void VerifyNearGoal() {
claw_queue_.goal.FetchLatest();
diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index 6e882e1..2c0b4d5 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -1,6 +1,20 @@
{
'targets': [
{
+ 'target_name': 'team_number_test_environment',
+ 'type': 'static_library',
+ 'sources': [
+ 'team_number_test_environment.cc'
+ ],
+ 'dependencies': [
+ '<(AOS)/common/network/network.gyp:team_number',
+ '<(EXTERNALS):gtest',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):gtest',
+ ],
+ },
+ {
'target_name': 'state_feedback_loop_test',
'type': 'executable',
'sources': [
diff --git a/frc971/control_loops/fridge/fridge.gyp b/frc971/control_loops/fridge/fridge.gyp
index ade2d0a..1f3eebb 100644
--- a/frc971/control_loops/fridge/fridge.gyp
+++ b/frc971/control_loops/fridge/fridge.gyp
@@ -50,6 +50,7 @@
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
'<(AOS)/common/controls/controls.gyp:control_loop_test',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:position_sensor_sim',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
],
},
{
diff --git a/frc971/control_loops/fridge/fridge_lib_test.cc b/frc971/control_loops/fridge/fridge_lib_test.cc
index 98deb8e..120bd2c 100644
--- a/frc971/control_loops/fridge/fridge_lib_test.cc
+++ b/frc971/control_loops/fridge/fridge_lib_test.cc
@@ -9,13 +9,13 @@
#include "frc971/control_loops/fridge/fridge.q.h"
#include "frc971/control_loops/fridge/fridge.h"
#include "frc971/constants.h"
+#include "frc971/control_loops/team_number_test_environment.h"
using ::aos::time::Time;
namespace frc971 {
namespace control_loops {
namespace testing {
-
// Class which simulates the fridge and sends out queue messages with the
// position.
class FridgeSimulation {
@@ -131,7 +131,9 @@
".frc971.control_loops.fridge_queue.output",
".frc971.control_loops.fridge_queue.status"),
fridge_(&fridge_queue_),
- fridge_plant_() {}
+ fridge_plant_() {
+ set_team_id(kTeamNumber);
+ }
void VerifyNearGoal() {
fridge_queue_.goal.FetchLatest();
diff --git a/frc971/control_loops/team_number_test_environment.cc b/frc971/control_loops/team_number_test_environment.cc
new file mode 100644
index 0000000..624a119
--- /dev/null
+++ b/frc971/control_loops/team_number_test_environment.cc
@@ -0,0 +1,15 @@
+#include "frc971/control_loops/team_number_test_environment.h"
+
+#include "aos/common/network/team_number.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace testing {
+
+void TeamNumberEnvironment::SetUp() {
+ ::aos::network::OverrideTeamNumber(kTeamNumber);
+}
+
+} // namespace testing
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/team_number_test_environment.h b/frc971/control_loops/team_number_test_environment.h
new file mode 100644
index 0000000..f0c1a16
--- /dev/null
+++ b/frc971/control_loops/team_number_test_environment.h
@@ -0,0 +1,30 @@
+#ifndef FRC971_CONTROL_LOOPS_TEAM_NUMBER_TEST_ENVIRONMENT_H_
+#define FRC971_CONTROL_LOOPS_TEAM_NUMBER_TEST_ENVIRONMENT_H_
+
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace testing {
+
+// The team number we use for tests.
+static const int kTeamNumber = 1;
+
+// Overrides the team number to kTeamNumber before any test consructors run.
+// This is important for tests which retrieve constants values during
+// construction.
+class TeamNumberEnvironment : public ::testing::Environment {
+ public:
+ void SetUp() override;
+};
+
+// The static variable in a header is intentional. Kind of a hack, undefined
+// order, but that works OK here.
+static ::testing::Environment* const team_number_env =
+ ::testing::AddGlobalTestEnvironment(new TeamNumberEnvironment());
+
+} // namespace testing
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_TEAM_NUMBER_TEST_ENVIRONMENT_H_