| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2014-2017. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "DriverStation.h" // NOLINT(build/include_order) |
| 9 | |
| 10 | #include "TestBench.h" |
| 11 | #include "Utility.h" |
| 12 | #include "gtest/gtest.h" |
| 13 | |
| 14 | using namespace frc; |
| 15 | |
| 16 | constexpr double TIMER_TOLERANCE = 0.2; |
| 17 | constexpr int64_t TIMER_RUNTIME = 1000000; // 1 second |
| 18 | |
| 19 | class DriverStationTest : public testing::Test {}; |
| 20 | |
| 21 | /** |
| 22 | * Test if the WaitForData function works |
| 23 | */ |
| 24 | TEST_F(DriverStationTest, WaitForData) { |
| 25 | uint64_t initialTime = GetFPGATime(); |
| 26 | |
| 27 | for (int i = 0; i < 50; i++) { |
| 28 | DriverStation::GetInstance().WaitForData(); |
| 29 | } |
| 30 | |
| 31 | uint64_t finalTime = GetFPGATime(); |
| 32 | |
| 33 | EXPECT_NEAR(TIMER_RUNTIME, finalTime - initialTime, |
| 34 | TIMER_TOLERANCE * TIMER_RUNTIME); |
| 35 | } |