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Create timesync JNI for testing client (#1433)

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This commit is contained in:
Matt
2024-10-31 08:27:19 -07:00
committed by GitHub
parent 937bafa8e2
commit 37aaa49b32
69 changed files with 2252 additions and 368 deletions
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4
photon-targeting/src/test/native/cpp/PacketTest.cpp
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@@ -85,7 +85,7 @@ TEST(PacketTest, PnpResult) {
// }
TEST(PacketTest, PhotonPipelineResult) {
PhotonPipelineResult result(PhotonPipelineMetadata(0, 0, 1),
PhotonPipelineResult result(PhotonPipelineMetadata(0, 0, 1, 2),
std::vector<PhotonTrackedTarget>{}, std::nullopt);
Packet p;
@@ -130,7 +130,7 @@ TEST(PacketTest, PhotonPipelineResult) {
17.0, 22.33, 2.54},
std::vector<int16_t>{8, 7, 11, 22, 59, 40}};
PhotonPipelineResult result2(PhotonPipelineMetadata{0, 0, 1}, targets,
PhotonPipelineResult result2(PhotonPipelineMetadata{0, 0, 1, 1}, targets,
mtResult);
Packet p2;

42
photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp Normal file
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@@ -0,0 +1,42 @@
/*
* Copyright (C) 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/>.
*/
#include <gtest/gtest.h>
#include <hal/HAL.h>
#include <net/TimeSyncClient.h>
#include <net/TimeSyncServer.h>
TEST(TimeSyncProtocolTest, Smoketest) {
using namespace wpi::tsp;
using namespace std::chrono_literals;
HAL_Initialize(500, 0);
TimeSyncServer server{5812};
TimeSyncClient client{"127.0.0.1", 5812, 100ms};
server.Start();
client.Start();
for (int i = 0; i < 10; i++) {
std::this_thread::sleep_for(100ms);
TimeSyncClient::Metadata m = client.GetMetadata();
fmt::println("Offset={} rtt={}", m.offset, m.rtt2);
}
server.Stop();
}