mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
Move robot base classes from opmode to framework (#8344)
Having these in opmode will be confusing to users when opmodes are added.
This commit is contained in:
Peter Johnson
702
wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
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702
wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
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@@ -0,0 +1,702 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.framework;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import java.util.concurrent.atomic.AtomicInteger;
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import org.junit.jupiter.api.AfterEach;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import org.junit.jupiter.api.parallel.ResourceLock;
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import org.wpilib.simulation.DriverStationSim;
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import org.wpilib.simulation.SimHooks;
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class TimedRobotTest {
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static final double kPeriod = 0.02;
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static class MockRobot extends TimedRobot {
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public final AtomicInteger m_simulationInitCount = new AtomicInteger(0);
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public final AtomicInteger m_disabledInitCount = new AtomicInteger(0);
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public final AtomicInteger m_autonomousInitCount = new AtomicInteger(0);
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public final AtomicInteger m_teleopInitCount = new AtomicInteger(0);
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public final AtomicInteger m_testInitCount = new AtomicInteger(0);
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public final AtomicInteger m_robotPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_simulationPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_disabledPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_autonomousPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_teleopPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_testPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_disabledExitCount = new AtomicInteger(0);
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public final AtomicInteger m_autonomousExitCount = new AtomicInteger(0);
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public final AtomicInteger m_teleopExitCount = new AtomicInteger(0);
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public final AtomicInteger m_testExitCount = new AtomicInteger(0);
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MockRobot() {
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super(kPeriod);
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}
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@Override
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public void simulationInit() {
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m_simulationInitCount.addAndGet(1);
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}
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@Override
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public void disabledInit() {
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m_disabledInitCount.addAndGet(1);
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}
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@Override
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public void autonomousInit() {
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m_autonomousInitCount.addAndGet(1);
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}
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@Override
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public void teleopInit() {
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m_teleopInitCount.addAndGet(1);
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}
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@Override
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public void testInit() {
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m_testInitCount.addAndGet(1);
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}
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@Override
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public void robotPeriodic() {
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m_robotPeriodicCount.addAndGet(1);
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}
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@Override
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public void simulationPeriodic() {
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m_simulationPeriodicCount.addAndGet(1);
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}
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@Override
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public void disabledPeriodic() {
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m_disabledPeriodicCount.addAndGet(1);
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}
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@Override
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public void autonomousPeriodic() {
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m_autonomousPeriodicCount.addAndGet(1);
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}
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@Override
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public void teleopPeriodic() {
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m_teleopPeriodicCount.addAndGet(1);
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}
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@Override
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public void testPeriodic() {
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m_testPeriodicCount.addAndGet(1);
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}
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@Override
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public void disabledExit() {
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m_disabledExitCount.addAndGet(1);
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}
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@Override
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public void autonomousExit() {
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m_autonomousExitCount.addAndGet(1);
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}
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@Override
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public void teleopExit() {
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m_teleopExitCount.addAndGet(1);
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}
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@Override
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public void testExit() {
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m_testExitCount.addAndGet(1);
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}
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}
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@BeforeEach
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void setup() {
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SimHooks.pauseTiming();
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DriverStationSim.resetData();
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}
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@AfterEach
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void cleanup() {
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SimHooks.resumeTiming();
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}
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@Test
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@ResourceLock("timing")
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void disabledModeTest() {
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MockRobot robot = new MockRobot();
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Thread robotThread = new Thread(robot::startCompetition);
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robotThread.start();
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DriverStationSim.setEnabled(false);
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DriverStationSim.notifyNewData();
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SimHooks.stepTiming(0.0); // Wait for Notifiers
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(0, robot.m_robotPeriodicCount.get());
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assertEquals(0, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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SimHooks.stepTiming(kPeriod);
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(1, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(1, robot.m_robotPeriodicCount.get());
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assertEquals(1, robot.m_simulationPeriodicCount.get());
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assertEquals(1, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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SimHooks.stepTiming(kPeriod);
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(1, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(2, robot.m_robotPeriodicCount.get());
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assertEquals(2, robot.m_simulationPeriodicCount.get());
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assertEquals(2, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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robot.endCompetition();
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try {
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robotThread.interrupt();
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robotThread.join();
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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robot.close();
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}
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@Test
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@ResourceLock("timing")
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void autonomousModeTest() {
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MockRobot robot = new MockRobot();
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Thread robotThread = new Thread(robot::startCompetition);
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robotThread.start();
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DriverStationSim.setEnabled(true);
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DriverStationSim.setAutonomous(true);
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DriverStationSim.setTest(false);
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DriverStationSim.notifyNewData();
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SimHooks.stepTiming(0.0); // Wait for Notifiers
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(0, robot.m_robotPeriodicCount.get());
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assertEquals(0, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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SimHooks.stepTiming(kPeriod);
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(1, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(1, robot.m_robotPeriodicCount.get());
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assertEquals(1, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(1, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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SimHooks.stepTiming(kPeriod);
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(1, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(2, robot.m_robotPeriodicCount.get());
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assertEquals(2, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(2, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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robot.endCompetition();
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try {
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robotThread.interrupt();
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robotThread.join();
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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robot.close();
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}
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@Test
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@ResourceLock("timing")
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void teleopModeTest() {
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MockRobot robot = new MockRobot();
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Thread robotThread = new Thread(robot::startCompetition);
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robotThread.start();
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DriverStationSim.setEnabled(true);
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DriverStationSim.setAutonomous(false);
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DriverStationSim.setTest(false);
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DriverStationSim.notifyNewData();
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SimHooks.stepTiming(0.0); // Wait for Notifiers
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(0, robot.m_robotPeriodicCount.get());
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assertEquals(0, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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SimHooks.stepTiming(kPeriod);
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(1, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(1, robot.m_robotPeriodicCount.get());
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assertEquals(1, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(1, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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SimHooks.stepTiming(kPeriod);
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(1, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(2, robot.m_robotPeriodicCount.get());
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assertEquals(2, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(2, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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assertEquals(0, robot.m_disabledExitCount.get());
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assertEquals(0, robot.m_autonomousExitCount.get());
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assertEquals(0, robot.m_teleopExitCount.get());
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assertEquals(0, robot.m_testExitCount.get());
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robot.endCompetition();
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try {
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||||
robotThread.interrupt();
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robotThread.join();
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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robot.close();
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}
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@Test
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||||
@ResourceLock("timing")
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void testModeTest() {
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MockRobot robot = new MockRobot();
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||||
Thread robotThread = new Thread(robot::startCompetition);
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robotThread.start();
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DriverStationSim.setEnabled(true);
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DriverStationSim.setAutonomous(false);
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||||
DriverStationSim.setTest(true);
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||||
DriverStationSim.notifyNewData();
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||||
SimHooks.stepTiming(0.0); // Wait for Notifiers
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||||
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||||
assertEquals(1, robot.m_simulationInitCount.get());
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||||
assertEquals(0, robot.m_disabledInitCount.get());
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||||
assertEquals(0, robot.m_autonomousInitCount.get());
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||||
assertEquals(0, robot.m_teleopInitCount.get());
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||||
assertEquals(0, robot.m_testInitCount.get());
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|
||||
assertEquals(0, robot.m_robotPeriodicCount.get());
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||||
assertEquals(0, robot.m_simulationPeriodicCount.get());
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||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
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||||
assertEquals(0, robot.m_autonomousPeriodicCount.get());
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||||
assertEquals(0, robot.m_teleopPeriodicCount.get());
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||||
assertEquals(0, robot.m_testPeriodicCount.get());
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||||
|
||||
assertEquals(0, robot.m_disabledExitCount.get());
|
||||
assertEquals(0, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
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||||
assertEquals(0, robot.m_testExitCount.get());
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||||
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||||
SimHooks.stepTiming(kPeriod);
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||||
|
||||
assertEquals(1, robot.m_simulationInitCount.get());
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||||
assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(1, robot.m_testInitCount.get());
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||||
|
||||
assertEquals(1, robot.m_robotPeriodicCount.get());
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||||
assertEquals(1, robot.m_simulationPeriodicCount.get());
|
||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
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||||
assertEquals(0, robot.m_autonomousPeriodicCount.get());
|
||||
assertEquals(0, robot.m_teleopPeriodicCount.get());
|
||||
assertEquals(1, robot.m_testPeriodicCount.get());
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||||
|
||||
assertEquals(0, robot.m_disabledExitCount.get());
|
||||
assertEquals(0, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
|
||||
assertEquals(0, robot.m_testExitCount.get());
|
||||
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||||
SimHooks.stepTiming(kPeriod);
|
||||
|
||||
assertEquals(1, robot.m_simulationInitCount.get());
|
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assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_autonomousInitCount.get());
|
||||
assertEquals(0, robot.m_teleopInitCount.get());
|
||||
assertEquals(1, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(2, robot.m_robotPeriodicCount.get());
|
||||
assertEquals(2, robot.m_simulationPeriodicCount.get());
|
||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(0, robot.m_autonomousPeriodicCount.get());
|
||||
assertEquals(0, robot.m_teleopPeriodicCount.get());
|
||||
assertEquals(2, robot.m_testPeriodicCount.get());
|
||||
|
||||
assertEquals(0, robot.m_disabledExitCount.get());
|
||||
assertEquals(0, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
|
||||
assertEquals(0, robot.m_testExitCount.get());
|
||||
|
||||
DriverStationSim.setEnabled(false);
|
||||
DriverStationSim.setAutonomous(false);
|
||||
DriverStationSim.setTest(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
|
||||
SimHooks.stepTiming(0.02);
|
||||
|
||||
assertEquals(1, robot.m_simulationInitCount.get());
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_autonomousInitCount.get());
|
||||
assertEquals(0, robot.m_teleopInitCount.get());
|
||||
assertEquals(1, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(3, robot.m_robotPeriodicCount.get());
|
||||
assertEquals(3, robot.m_simulationPeriodicCount.get());
|
||||
assertEquals(1, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(0, robot.m_autonomousPeriodicCount.get());
|
||||
assertEquals(0, robot.m_teleopPeriodicCount.get());
|
||||
assertEquals(2, robot.m_testPeriodicCount.get());
|
||||
|
||||
assertEquals(0, robot.m_disabledExitCount.get());
|
||||
assertEquals(0, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
|
||||
assertEquals(1, robot.m_testExitCount.get());
|
||||
|
||||
robot.endCompetition();
|
||||
try {
|
||||
robotThread.interrupt();
|
||||
robotThread.join();
|
||||
} catch (InterruptedException ex) {
|
||||
Thread.currentThread().interrupt();
|
||||
}
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
@ResourceLock("timing")
|
||||
void modeChangeTest() {
|
||||
MockRobot robot = new MockRobot();
|
||||
|
||||
Thread robotThread = new Thread(robot::startCompetition);
|
||||
robotThread.start();
|
||||
|
||||
// Start in disabled
|
||||
DriverStationSim.setEnabled(false);
|
||||
DriverStationSim.setAutonomous(false);
|
||||
DriverStationSim.setTest(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
SimHooks.stepTiming(0.0); // Wait for Notifiers
|
||||
|
||||
assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_autonomousInitCount.get());
|
||||
assertEquals(0, robot.m_teleopInitCount.get());
|
||||
assertEquals(0, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(0, robot.m_disabledExitCount.get());
|
||||
assertEquals(0, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
|
||||
assertEquals(0, robot.m_testExitCount.get());
|
||||
|
||||
SimHooks.stepTiming(kPeriod);
|
||||
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_autonomousInitCount.get());
|
||||
assertEquals(0, robot.m_teleopInitCount.get());
|
||||
assertEquals(0, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(0, robot.m_disabledExitCount.get());
|
||||
assertEquals(0, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
|
||||
assertEquals(0, robot.m_testExitCount.get());
|
||||
|
||||
// Transition to autonomous
|
||||
DriverStationSim.setEnabled(true);
|
||||
DriverStationSim.setAutonomous(true);
|
||||
DriverStationSim.setTest(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
|
||||
SimHooks.stepTiming(kPeriod);
|
||||
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(1, robot.m_autonomousInitCount.get());
|
||||
assertEquals(0, robot.m_teleopInitCount.get());
|
||||
assertEquals(0, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(1, robot.m_disabledExitCount.get());
|
||||
assertEquals(0, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
|
||||
assertEquals(0, robot.m_testExitCount.get());
|
||||
|
||||
// Transition to teleop
|
||||
DriverStationSim.setEnabled(true);
|
||||
DriverStationSim.setAutonomous(false);
|
||||
DriverStationSim.setTest(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
|
||||
SimHooks.stepTiming(kPeriod);
|
||||
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(1, robot.m_autonomousInitCount.get());
|
||||
assertEquals(1, robot.m_teleopInitCount.get());
|
||||
assertEquals(0, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(1, robot.m_disabledExitCount.get());
|
||||
assertEquals(1, robot.m_autonomousExitCount.get());
|
||||
assertEquals(0, robot.m_teleopExitCount.get());
|
||||
assertEquals(0, robot.m_testExitCount.get());
|
||||
|
||||
// Transition to test
|
||||
DriverStationSim.setEnabled(true);
|
||||
DriverStationSim.setAutonomous(false);
|
||||
DriverStationSim.setTest(true);
|
||||
DriverStationSim.notifyNewData();
|
||||
|
||||
SimHooks.stepTiming(kPeriod);
|
||||
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(1, robot.m_autonomousInitCount.get());
|
||||
assertEquals(1, robot.m_teleopInitCount.get());
|
||||
assertEquals(1, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(1, robot.m_disabledExitCount.get());
|
||||
assertEquals(1, robot.m_autonomousExitCount.get());
|
||||
assertEquals(1, robot.m_teleopExitCount.get());
|
||||
assertEquals(0, robot.m_testExitCount.get());
|
||||
|
||||
// Transition to disabled
|
||||
DriverStationSim.setEnabled(false);
|
||||
DriverStationSim.setAutonomous(false);
|
||||
DriverStationSim.setTest(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
|
||||
SimHooks.stepTiming(kPeriod);
|
||||
|
||||
assertEquals(2, robot.m_disabledInitCount.get());
|
||||
assertEquals(1, robot.m_autonomousInitCount.get());
|
||||
assertEquals(1, robot.m_teleopInitCount.get());
|
||||
assertEquals(1, robot.m_testInitCount.get());
|
||||
|
||||
assertEquals(1, robot.m_disabledExitCount.get());
|
||||
assertEquals(1, robot.m_autonomousExitCount.get());
|
||||
assertEquals(1, robot.m_teleopExitCount.get());
|
||||
assertEquals(1, robot.m_testExitCount.get());
|
||||
|
||||
robot.endCompetition();
|
||||
try {
|
||||
robotThread.interrupt();
|
||||
robotThread.join();
|
||||
} catch (InterruptedException ex) {
|
||||
Thread.currentThread().interrupt();
|
||||
}
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
@ResourceLock("timing")
|
||||
void addPeriodicTest() {
|
||||
MockRobot robot = new MockRobot();
|
||||
|
||||
final AtomicInteger callbackCount = new AtomicInteger(0);
|
||||
robot.addPeriodic(() -> callbackCount.addAndGet(1), kPeriod / 2.0);
|
||||
|
||||
Thread robotThread = new Thread(robot::startCompetition);
|
||||
robotThread.start();
|
||||
|
||||
DriverStationSim.setEnabled(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
SimHooks.stepTiming(0.0); // Wait for Notifiers
|
||||
|
||||
assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(0, callbackCount.get());
|
||||
|
||||
SimHooks.stepTiming(kPeriod / 2.0);
|
||||
|
||||
assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(1, callbackCount.get());
|
||||
|
||||
SimHooks.stepTiming(kPeriod / 2.0);
|
||||
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(1, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(2, callbackCount.get());
|
||||
|
||||
robot.endCompetition();
|
||||
try {
|
||||
robotThread.interrupt();
|
||||
robotThread.join();
|
||||
} catch (InterruptedException ex) {
|
||||
Thread.currentThread().interrupt();
|
||||
}
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
@ResourceLock("timing")
|
||||
void addPeriodicWithOffsetTest() {
|
||||
MockRobot robot = new MockRobot();
|
||||
|
||||
final AtomicInteger callbackCount = new AtomicInteger(0);
|
||||
robot.addPeriodic(() -> callbackCount.addAndGet(1), kPeriod / 2.0, kPeriod / 4.0);
|
||||
|
||||
// Expirations in this test (ms)
|
||||
//
|
||||
// Let p be period in ms.
|
||||
//
|
||||
// Robot | Callback
|
||||
// ================
|
||||
// p | 0.75p
|
||||
// 2p | 1.25p
|
||||
|
||||
Thread robotThread = new Thread(robot::startCompetition);
|
||||
robotThread.start();
|
||||
|
||||
DriverStationSim.setEnabled(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
SimHooks.stepTiming(0.0); // Wait for Notifiers
|
||||
|
||||
assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(0, callbackCount.get());
|
||||
|
||||
SimHooks.stepTiming(kPeriod * 3.0 / 8.0);
|
||||
|
||||
assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(0, callbackCount.get());
|
||||
|
||||
SimHooks.stepTiming(kPeriod * 3.0 / 8.0);
|
||||
|
||||
assertEquals(0, robot.m_disabledInitCount.get());
|
||||
assertEquals(0, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(1, callbackCount.get());
|
||||
|
||||
SimHooks.stepTiming(kPeriod / 4.0);
|
||||
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(1, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(1, callbackCount.get());
|
||||
|
||||
SimHooks.stepTiming(kPeriod / 4.0);
|
||||
|
||||
assertEquals(1, robot.m_disabledInitCount.get());
|
||||
assertEquals(1, robot.m_disabledPeriodicCount.get());
|
||||
assertEquals(2, callbackCount.get());
|
||||
|
||||
robot.endCompetition();
|
||||
try {
|
||||
robotThread.interrupt();
|
||||
robotThread.join();
|
||||
} catch (InterruptedException ex) {
|
||||
Thread.currentThread().interrupt();
|
||||
}
|
||||
robot.close();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,119 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package org.wpilib.framework;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
import static org.junit.jupiter.api.Assertions.assertThrows;
|
||||
|
||||
import java.util.concurrent.atomic.AtomicInteger;
|
||||
import org.junit.jupiter.api.AfterEach;
|
||||
import org.junit.jupiter.api.BeforeEach;
|
||||
import org.junit.jupiter.api.Test;
|
||||
import org.junit.jupiter.api.parallel.ResourceLock;
|
||||
import org.wpilib.simulation.DriverStationSim;
|
||||
import org.wpilib.simulation.SimHooks;
|
||||
|
||||
class TimesliceRobotTest {
|
||||
static class MockRobot extends TimesliceRobot {
|
||||
public final AtomicInteger m_robotPeriodicCount = new AtomicInteger(0);
|
||||
|
||||
MockRobot() {
|
||||
super(0.002, 0.005);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void robotPeriodic() {
|
||||
m_robotPeriodicCount.addAndGet(1);
|
||||
}
|
||||
}
|
||||
|
||||
@BeforeEach
|
||||
void setup() {
|
||||
SimHooks.pauseTiming();
|
||||
}
|
||||
|
||||
@AfterEach
|
||||
void cleanup() {
|
||||
SimHooks.resumeTiming();
|
||||
}
|
||||
|
||||
@Test
|
||||
@ResourceLock("timing")
|
||||
void scheduleTest() {
|
||||
MockRobot robot = new MockRobot();
|
||||
|
||||
final AtomicInteger callbackCount1 = new AtomicInteger(0);
|
||||
final AtomicInteger callbackCount2 = new AtomicInteger(0);
|
||||
|
||||
// Timeslice allocation table
|
||||
//
|
||||
// | Name | Offset (ms) | Allocation (ms)|
|
||||
// |-----------------|-------------|----------------|
|
||||
// | RobotPeriodic() | 0 | 2 |
|
||||
// | Callback 1 | 2 | 0.5 |
|
||||
// | Callback 2 | 2.5 | 1 |
|
||||
robot.schedule(() -> callbackCount1.addAndGet(1), 0.0005);
|
||||
robot.schedule(() -> callbackCount2.addAndGet(1), 0.001);
|
||||
|
||||
Thread robotThread = new Thread(robot::startCompetition);
|
||||
robotThread.start();
|
||||
|
||||
DriverStationSim.setEnabled(false);
|
||||
DriverStationSim.notifyNewData();
|
||||
SimHooks.stepTiming(0.0); // Wait for Notifiers
|
||||
|
||||
// Functions scheduled with addPeriodic() are delayed by one period before
|
||||
// their first run (5 ms for this test's callbacks here and 20 ms for
|
||||
// robotPeriodic()).
|
||||
SimHooks.stepTiming(0.005);
|
||||
|
||||
assertEquals(0, robot.m_robotPeriodicCount.get());
|
||||
assertEquals(0, callbackCount1.get());
|
||||
assertEquals(0, callbackCount2.get());
|
||||
|
||||
// Step to 1.5 ms
|
||||
SimHooks.stepTiming(0.0015);
|
||||
assertEquals(0, robot.m_robotPeriodicCount.get());
|
||||
assertEquals(0, callbackCount1.get());
|
||||
assertEquals(0, callbackCount2.get());
|
||||
|
||||
// Step to 2.25 ms
|
||||
SimHooks.stepTiming(0.00075);
|
||||
assertEquals(0, robot.m_robotPeriodicCount.get());
|
||||
assertEquals(1, callbackCount1.get());
|
||||
assertEquals(0, callbackCount2.get());
|
||||
|
||||
// Step to 2.75 ms
|
||||
SimHooks.stepTiming(0.0005);
|
||||
assertEquals(0, robot.m_robotPeriodicCount.get());
|
||||
assertEquals(1, callbackCount1.get());
|
||||
assertEquals(1, callbackCount2.get());
|
||||
|
||||
robot.endCompetition();
|
||||
try {
|
||||
robotThread.interrupt();
|
||||
robotThread.join();
|
||||
} catch (InterruptedException ex) {
|
||||
Thread.currentThread().interrupt();
|
||||
}
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
@ResourceLock("timing")
|
||||
void scheduleOverrunTest() {
|
||||
MockRobot robot = new MockRobot();
|
||||
|
||||
robot.schedule(() -> {}, 0.0005);
|
||||
robot.schedule(() -> {}, 0.001);
|
||||
|
||||
// offset = 2 ms + 0.5 ms + 1 ms = 3.5 ms
|
||||
// 3.5 ms + 3 ms allocation = 6.5 ms > max of 5 ms
|
||||
assertThrows(IllegalStateException.class, () -> robot.schedule(() -> {}, 0.003));
|
||||
|
||||
robot.endCompetition();
|
||||
robot.close();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user