Hardware Management, Metrics, PWM/GPIO support. (#12)

* [Server] Hardware Management * [Server] Hardware Management * [Server] Hardware Management * [Server] Hardware Management * [Server] Hardware Management * [Server] Hardware Management * Added metricsPublisher * [Server] Hardware Management * [Server] Hardware Management * Fill in HardwareConfig, allow JSON Comments * Use hardware config * [Hardware Management] Use Hardware Config * [Hardware Management] Use softPWM for dimming * [Hardware] Added HardwareConfig Test * [Hardware] Started HardwareManager * Start metrics thread in hardwareManager * [Hardware] Added Hardware Manager Test * [Hardware] Spotless * [Hardware] Added logging, cleaned up HardwareConfig * [Hardware] Added logging to PWM class * [Hardware] Rebase off master, fix merge conflicts * [Hardware] Ignore metrics commands if on pi * [Hardware] Remove GPIO provision after shutdown * [Hardware] Switch over to diozero * [Hardware] Use broadcom pins * [Hardware] Fix PWM port * [Hardware] Use jpi instead of pigpio * [Hardware] Use dizero-core * [Hardware] No need to close LED * [Hardware] Switch to jpigpio * [Hardware] Initalize JPiGPIO in unit tests * [Hardware] Use dutyCycle for LED dimming * [Hardware] Add blink test to HardwareManager * [Hardware] Fix PWM port * [Hardware] Fix HardwareManagerTest * [Hardware] Fix HardwareManagerTest * [Hardware] Use waves for LED blinking * [Hardware] Make blinking part of PWM * [Hardware] Add API methods to hardware Manager * [Hardware] Only start pigpio if on pi * [Hardware] Merge PWM classes into GPIO * [Hardware] Add Hardware stuff to VisionModules * [Hardware] Remove random semicolon Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
2026-06-19 00:41:41 +00:00 · 2020-07-31 15:43:58 -04:00
parent 65964726a5
commit 0b98dc3c9f
24 changed files with 1096 additions and 33 deletions
--- a/photon-server/src/test/java/org/photonvision/hardware/HardwareManagerTest.java
+++ b/photon-server/src/test/java/org/photonvision/hardware/HardwareManagerTest.java
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.hardware;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import java.io.IOException;
+import java.util.List;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.Test;
+import org.photonvision.common.configuration.HardwareConfig;
+import org.photonvision.common.hardware.HardwareManager;
+import org.photonvision.common.util.TestUtils;
+
+public class HardwareManagerTest {
+
+    @Test
+    public void ManagementTest() throws IOException {
+        var config =
+                new ObjectMapper().readValue(TestUtils.getHardwareConfigJson(), HardwareConfig.class);
+
+        HardwareManager.getInstance().setConfig(config);
+
+        var instance = HardwareManager.getInstance();
+
+        instance.getGPIO(13).setPwmRange(List.of(0, 100));
+        Assertions.assertEquals(instance.getGPIO(13).getPwmRange().get(0), 0);
+        Assertions.assertEquals(instance.getGPIO(13).getPwmRange().get(1), 100);
+        instance.getGPIO(13).blink(250, 5);
+        for (int i = 0; i < 101; i++) {
+            instance.getGPIO(13).dimLED(i);
+        }
+    }
+}