static AbstractComsSetup()
{
if (!s_initialized)
{
HAL.Base.HAL.Initialize();
HAL.Base.HALDriverStation.HAL_ObserveUserProgramStarting();
LiveWindow.LiveWindow.SetEnabled(false);
Console.WriteLine("Started coms");
if (RobotBase.IsSimulation)
{
s_initialized = true;
DriverStationHelper.StartDSLoop();
DriverStationHelper.SetRobotMode(DriverStationHelper.RobotMode.Teleop);
DriverStationHelper.SetEnabledState(DriverStationHelper.EnabledState.Enabled);
Thread.Sleep(500);
SimJumpers.AttachDioPins(6, 7);
SimJumpers.AttachDioPins(8, 9);
SimJumpers.AttachRelay(0, 19, 18);
SimJumpers.AttachAio(2, 0);
SimData.Accelerometer.SetX(0.0);
SimData.Accelerometer.SetY(0.0);
SimData.Accelerometer.SetZ(1.0);
return;
}
int i = 0;
while (!DriverStation.Instance.Enabled)
{
try
{
Thread.Sleep(1000);
}
catch (ThreadInterruptedException e)
{
Console.WriteLine(e);
}
Console.Write("\rWaiting for enable: " + i++);
}
Console.WriteLine();
s_initialized = true;
Console.WriteLine("Running!");
}
}
public void WhenPressed()
{
using (var robot = new AttributedRobot())
{
DriverStationHelper.SetJoystickButton(0, 1, false);
Thread.Sleep(40);
robot._RobotInit();
robot._TeleopInit();
robot._TeleopPeriodic();
Assert.IsFalse(s_commandStarted, "Command has not started");
DriverStationHelper.SetJoystickButton(0, 1, true);
Thread.Sleep(40);
robot._TeleopPeriodic();
robot._TeleopPeriodic();
Assert.IsTrue(s_commandStarted, "Command has started");
}
}
