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

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java

@@ -0,0 +1,161 @@
+// 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 edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
+import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
+import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.logging.Logger;
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Ignore;
+import org.junit.Test;
+
+@Ignore
+public class DMATest extends AbstractComsSetup {
+  private static final Logger logger = Logger.getLogger(DMATest.class.getName());
+
+  @Override
+  protected Logger getClassLogger() {
+    return logger;
+  }
+
+  private AnalogCrossConnectFixture m_analogIO;
+  private DigitalOutput m_manualTrigger;
+  private PWMMotorController m_pwm;
+  private DMA m_dma;
+  private DMASample m_dmaSample;
+
+  @Before
+  public void setUp() {
+    m_analogIO = TestBench.getAnalogCrossConnectFixture();
+    m_manualTrigger = new DigitalOutput(7);
+    m_pwm = new Jaguar(14);
+    m_dma = new DMA();
+    m_dmaSample = new DMASample();
+
+    m_dma.addAnalogInput(m_analogIO.getInput());
+    m_dma.setExternalTrigger(m_manualTrigger, false, true);
+    m_manualTrigger.set(true);
+  }
+
+  @After
+  public void tearDown() {
+    m_dma.close();
+    m_manualTrigger.close();
+    m_analogIO.teardown();
+    m_pwm.close();
+  }
+
+  @Test
+  public void testPausingWorks() {
+    m_dma.start(1024);
+    m_dma.setPause(true);
+    m_manualTrigger.set(false);
+
+    var timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(5));
+
+    assertEquals(DMASample.DMAReadStatus.kTimeout, timedOut);
+  }
+
+  @Test
+  public void testRemovingTriggersWorks() {
+    m_dma.clearExternalTriggers();
+    m_dma.start(1024);
+    m_manualTrigger.set(false);
+
+    var timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(5));
+
+    assertEquals(DMASample.DMAReadStatus.kTimeout, timedOut);
+  }
+
+  @Test
+  public void testManualTriggerOnlyHappensOnce() {
+    m_dma.start(1024);
+    m_manualTrigger.set(false);
+    var timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(5));
+    m_manualTrigger.set(true);
+
+    assertEquals(DMASample.DMAReadStatus.kOk, timedOut);
+    assertEquals(0, m_dmaSample.getRemaining());
+    timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(5));
+    assertEquals(DMASample.DMAReadStatus.kTimeout, timedOut);
+  }
+
+  @Test
+  public void testAnalogIndividualTriggers() {
+    m_dma.start(1024);
+    for (double i = 0; i < 5; i += 0.5) {
+      m_analogIO.getOutput().setVoltage(i);
+      // Need to sleep to ensure value sets
+      Timer.delay(AnalogCrossConnectTest.kDelayTime);
+      m_manualTrigger.set(false);
+      var timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(1));
+      m_manualTrigger.set(true);
+
+      assertEquals(DMASample.DMAReadStatus.kOk, timedOut);
+      assertEquals(0, m_dmaSample.getRemaining());
+      assertEquals(
+          m_analogIO.getInput().getVoltage(),
+          m_dmaSample.getAnalogInputVoltage(m_analogIO.getInput()),
+          0.01);
+    }
+  }
+
+  @Test
+  public void testAnalogMultipleTriggers() {
+    m_dma.start(1024);
+    List<Double> values = new ArrayList<>();
+    for (double i = 0; i < 5; i += 0.5) {
+      m_analogIO.getOutput().setVoltage(i);
+      values.add(i);
+      // Need to sleep to ensure value sets
+      Timer.delay(AnalogCrossConnectTest.kDelayTime);
+      m_manualTrigger.set(false);
+      Timer.delay(AnalogCrossConnectTest.kDelayTime);
+      m_manualTrigger.set(true);
+    }
+
+    for (int i = 0; i < values.size(); i++) {
+      var timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(1));
+      assertEquals(DMASample.DMAReadStatus.kOk, timedOut);
+      assertEquals(values.size() - i - 1, m_dmaSample.getRemaining());
+      assertEquals(values.get(i), m_dmaSample.getAnalogInputVoltage(m_analogIO.getInput()), 0.01);
+    }
+  }
+
+  @Test
+  public void testTimedTriggers() {
+    m_dma.setTimedTrigger(Units.millisecondsToSeconds(10));
+    m_dma.start(1024);
+    Timer.delay(Units.millisecondsToSeconds(100));
+    m_dma.setPause(true);
+
+    var timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(1));
+    assertEquals(DMASample.DMAReadStatus.kOk, timedOut);
+    assertTrue("Received more then 5 samples in 100 ms", m_dmaSample.getRemaining() > 5);
+  }
+
+  @Test
+  public void testPwmTimedTriggers() {
+    m_dma.clearExternalTriggers();
+    m_dma.setPwmEdgeTrigger(m_pwm, true, false);
+    m_dma.start(1024);
+    Timer.delay(Units.millisecondsToSeconds(100));
+    m_dma.setPause(true);
+
+    var timedOut = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(1));
+    assertEquals(DMASample.DMAReadStatus.kOk, timedOut);
+    assertTrue("Received more then 5 samples in 100 ms", m_dmaSample.getRemaining() > 5);
+  }
+}