[hal] Add support for DMA to Java (#3158)

wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp

@@ -0,0 +1,155 @@
+// 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.
+
+#include <frc/AnalogInput.h>
+#include <frc/AnalogOutput.h>
+#include <frc/DigitalOutput.h>
+#include <frc/Timer.h>
+#include <frc/motorcontrol/Jaguar.h>
+
+#include "TestBench.h"
+#include "frc/DMA.h"
+#include "frc/DMASample.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr auto kDelayTime = 100_ms;
+
+class DMATest : public testing::Test {
+ protected:
+  AnalogInput m_analogInput{TestBench::kAnalogOutputChannel};
+  AnalogOutput m_analogOutput{TestBench::kFakeAnalogOutputChannel};
+  DigitalOutput m_manualTrigger{TestBench::kLoop1InputChannel};
+  Jaguar m_pwm{TestBench::kFakePwmOutput};
+  DMA m_dma;
+
+  void SetUp() override {
+    m_dma.AddAnalogInput(&m_analogInput);
+    m_dma.SetExternalTrigger(&m_manualTrigger, false, true);
+    m_manualTrigger.Set(true);
+  }
+};
+
+TEST_F(DMATest, PausingWorks_DISABLED) {
+  m_dma.Start(1024);
+  m_dma.SetPause(true);
+  m_manualTrigger.Set(false);
+
+  frc::DMASample sample;
+  int32_t remaining = 0;
+  int32_t status = 0;
+
+  auto timedOut = sample.Update(&m_dma, 5_ms, &remaining, &status);
+
+  ASSERT_EQ(DMASample::DMAReadStatus::kTimeout, timedOut);
+}
+
+TEST_F(DMATest, RemovingTriggersWorks_DISABLED) {
+  m_dma.ClearExternalTriggers();
+  m_dma.Start(1024);
+  m_manualTrigger.Set(false);
+
+  frc::DMASample sample;
+  int32_t remaining = 0;
+  int32_t status = 0;
+
+  auto timedOut = sample.Update(&m_dma, 5_ms, &remaining, &status);
+
+  ASSERT_EQ(DMASample::DMAReadStatus::kTimeout, timedOut);
+}
+
+TEST_F(DMATest, ManualTriggerOnlyHappensOnce_DISABLED) {
+  m_dma.Start(1024);
+  m_manualTrigger.Set(false);
+
+  frc::DMASample sample;
+  int32_t remaining = 0;
+  int32_t status = 0;
+
+  auto timedOut = sample.Update(&m_dma, 5_ms, &remaining, &status);
+
+  ASSERT_EQ(DMASample::DMAReadStatus::kOk, timedOut);
+  ASSERT_EQ(0, remaining);
+  timedOut = sample.Update(&m_dma, 5_ms, &remaining, &status);
+  ASSERT_EQ(DMASample::DMAReadStatus::kTimeout, timedOut);
+}
+
+TEST_F(DMATest, AnalogIndividualTriggers_DISABLED) {
+  m_dma.Start(1024);
+  for (double i = 0; i < 5; i += 0.5) {
+    frc::DMASample sample;
+    int32_t remaining = 0;
+    int32_t status = 0;
+
+    m_analogOutput.SetVoltage(i);
+    frc::Wait(kDelayTime);
+    m_manualTrigger.Set(false);
+    auto timedOut = sample.Update(&m_dma, 1_ms, &remaining, &status);
+    m_manualTrigger.Set(true);
+    ASSERT_EQ(DMASample::DMAReadStatus::kOk, timedOut);
+    ASSERT_EQ(0, status);
+    ASSERT_EQ(0, remaining);
+    ASSERT_DOUBLE_EQ(m_analogInput.GetVoltage(),
+                     sample.GetAnalogInputVoltage(&m_analogInput, &status));
+  }
+}
+
+TEST_F(DMATest, AnalogMultipleTriggers_DISABLED) {
+  m_dma.Start(1024);
+  std::vector<double> values;
+  for (double i = 0; i < 5; i += 0.5) {
+    values.push_back(i);
+    m_analogOutput.SetVoltage(i);
+    frc::Wait(kDelayTime);
+    m_manualTrigger.Set(false);
+    frc::Wait(kDelayTime);
+    m_manualTrigger.Set(true);
+  }
+
+  for (size_t i = 0; i < values.size(); i++) {
+    frc::DMASample sample;
+    int32_t remaining = 0;
+    int32_t status = 0;
+    auto timedOut = sample.Update(&m_dma, 1_ms, &remaining, &status);
+    ASSERT_EQ(DMASample::DMAReadStatus::kOk, timedOut);
+    ASSERT_EQ(0, status);
+    ASSERT_EQ(values.size() - i - 1, (uint32_t)remaining);
+    ASSERT_DOUBLE_EQ(values[i],
+                     sample.GetAnalogInputVoltage(&m_analogInput, &status));
+  }
+}
+
+TEST_F(DMATest, TimedTriggers_DISABLED) {
+  m_dma.SetTimedTrigger(10_ms);
+  m_dma.Start(1024);
+  frc::Wait(kDelayTime);
+  m_dma.SetPause(true);
+
+  frc::DMASample sample;
+  int32_t remaining = 0;
+  int32_t status = 0;
+
+  auto timedOut = sample.Update(&m_dma, 1_ms, &remaining, &status);
+  ASSERT_EQ(DMASample::DMAReadStatus::kOk, timedOut);
+  ASSERT_EQ(0, status);
+  ASSERT_GT(remaining, 5);
+}
+
+TEST_F(DMATest, PWMTimedTriggers_DISABLED) {
+  m_dma.ClearExternalTriggers();
+  m_dma.SetPwmEdgeTrigger(&m_pwm, true, false);
+  m_dma.Start(1024);
+  frc::Wait(kDelayTime);
+  m_dma.SetPause(true);
+
+  frc::DMASample sample;
+  int32_t remaining = 0;
+  int32_t status = 0;
+
+  auto timedOut = sample.Update(&m_dma, 1_ms, &remaining, &status);
+  ASSERT_EQ(DMASample::DMAReadStatus::kOk, timedOut);
+  ASSERT_EQ(0, status);
+  ASSERT_GT(remaining, 5);
+}