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https://github.com/wpilibsuite/allwpilib
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[hal,wpilib] Move Alert to HAL (#8646)
SystemCore implementation is not yet connected to MRCComm.
This commit is contained in:
Peter Johnson
@@ -1,250 +0,0 @@
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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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#include "wpi/util/Alert.hpp"
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#include <algorithm>
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#include <string>
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#include <utility>
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#include <vector>
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#include <fmt/format.h>
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#include <gtest/gtest.h>
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#include "wpi/nt/NetworkTableInstance.hpp"
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#include "wpi/nt/StringArrayTopic.hpp"
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#include "wpi/simulation/SimHooks.hpp"
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#include "wpi/smartdashboard/SmartDashboard.hpp"
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using namespace wpi;
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using enum Alert::AlertType;
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class AlertsTest : public ::testing::Test {
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public:
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~AlertsTest() override {
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// test all destructors
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Update();
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EXPECT_EQ(GetSubscriberForType(kError).Get().size(), 0ul);
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EXPECT_EQ(GetSubscriberForType(kWarning).Get().size(), 0ul);
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EXPECT_EQ(GetSubscriberForType(kInfo).Get().size(), 0ul);
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}
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std::string GetGroupName() {
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const ::testing::TestInfo* testInfo =
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::testing::UnitTest::GetInstance()->current_test_info();
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return fmt::format("{}_{}", testInfo->test_suite_name(), testInfo->name());
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}
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template <typename... Args>
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Alert MakeAlert(Args&&... args) {
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return Alert(GetGroupName(), std::forward<Args>(args)...);
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}
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std::vector<std::string> GetActiveAlerts(Alert::AlertType type) {
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Update();
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return GetSubscriberForType(type).Get();
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}
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bool IsAlertActive(std::string_view text, Alert::AlertType type) {
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auto activeAlerts = GetActiveAlerts(type);
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return std::find(activeAlerts.begin(), activeAlerts.end(), text) !=
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activeAlerts.end();
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}
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void Update() { wpi::SmartDashboard::UpdateValues(); }
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private:
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std::string GetSubtableName(Alert::AlertType type) {
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switch (type) {
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case kError:
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return "errors";
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case kWarning:
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return "warnings";
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case kInfo:
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return "infos";
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default:
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return "unknown";
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}
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}
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const wpi::nt::StringArraySubscriber GetSubscriberForType(
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Alert::AlertType type) {
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return wpi::nt::NetworkTableInstance::GetDefault()
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.GetStringArrayTopic(fmt::format("/SmartDashboard/{}/{}",
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GetGroupName(), GetSubtableName(type)))
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.Subscribe({});
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}
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};
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#define EXPECT_STATE(type, ...) \
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EXPECT_EQ(GetActiveAlerts(type), (std::vector<std::string>{__VA_ARGS__}))
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TEST_F(AlertsTest, SetUnsetSingle) {
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auto one = MakeAlert("one", kInfo);
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EXPECT_FALSE(IsAlertActive("one", kInfo));
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one.Set(true);
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EXPECT_TRUE(IsAlertActive("one", kInfo));
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one.Set(false);
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EXPECT_FALSE(IsAlertActive("one", kInfo));
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}
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TEST_F(AlertsTest, SetUnsetMultiple) {
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auto one = MakeAlert("one", kError);
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auto two = MakeAlert("two", kInfo);
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EXPECT_FALSE(IsAlertActive("one", kError));
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EXPECT_FALSE(IsAlertActive("two", kInfo));
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one.Set(true);
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EXPECT_TRUE(IsAlertActive("one", kError));
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EXPECT_FALSE(IsAlertActive("two", kInfo));
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one.Set(true);
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two.Set(true);
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EXPECT_TRUE(IsAlertActive("one", kError));
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EXPECT_TRUE(IsAlertActive("two", kInfo));
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one.Set(false);
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EXPECT_FALSE(IsAlertActive("one", kError));
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EXPECT_TRUE(IsAlertActive("two", kInfo));
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}
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TEST_F(AlertsTest, SetIsIdempotent) {
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auto a = MakeAlert("A", kInfo);
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auto b = MakeAlert("B", kInfo);
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auto c = MakeAlert("C", kInfo);
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a.Set(true);
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b.Set(true);
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c.Set(true);
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const auto startState = GetActiveAlerts(kInfo);
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b.Set(true);
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EXPECT_STATE(kInfo, startState);
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a.Set(true);
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EXPECT_STATE(kInfo, startState);
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}
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TEST_F(AlertsTest, DestructorUnsetsAlert) {
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{
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auto alert = MakeAlert("alert", kWarning);
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alert.Set(true);
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EXPECT_TRUE(IsAlertActive("alert", kWarning));
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}
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EXPECT_FALSE(IsAlertActive("alert", kWarning));
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}
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TEST_F(AlertsTest, SetTextWhileUnset) {
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auto alert = MakeAlert("BEFORE", kInfo);
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EXPECT_EQ("BEFORE", alert.GetText());
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alert.Set(true);
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EXPECT_TRUE(IsAlertActive("BEFORE", kInfo));
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alert.Set(false);
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EXPECT_FALSE(IsAlertActive("BEFORE", kInfo));
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alert.SetText("AFTER");
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EXPECT_EQ("AFTER", alert.GetText());
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alert.Set(true);
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EXPECT_FALSE(IsAlertActive("BEFORE", kInfo));
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EXPECT_TRUE(IsAlertActive("AFTER", kInfo));
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}
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TEST_F(AlertsTest, SetTextWhileSet) {
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auto alert = MakeAlert("BEFORE", kInfo);
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EXPECT_EQ("BEFORE", alert.GetText());
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alert.Set(true);
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EXPECT_TRUE(IsAlertActive("BEFORE", kInfo));
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alert.SetText("AFTER");
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EXPECT_EQ("AFTER", alert.GetText());
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EXPECT_FALSE(IsAlertActive("BEFORE", kInfo));
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EXPECT_TRUE(IsAlertActive("AFTER", kInfo));
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}
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TEST_F(AlertsTest, SetTextDoesNotAffectFirstOrderSort) {
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wpi::sim::PauseTiming();
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auto a = MakeAlert("A", kError);
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auto b = MakeAlert("B", kError);
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auto c = MakeAlert("C", kError);
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a.Set(true);
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wpi::sim::StepTiming(1_s);
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b.Set(true);
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wpi::sim::StepTiming(1_s);
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c.Set(true);
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auto expectedEndState = GetActiveAlerts(kError);
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std::replace(expectedEndState.begin(), expectedEndState.end(),
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std::string("B"), std::string("AFTER"));
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b.SetText("AFTER");
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EXPECT_STATE(kError, expectedEndState);
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wpi::sim::ResumeTiming();
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}
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TEST_F(AlertsTest, MoveAssign) {
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auto outer = MakeAlert("outer", kInfo);
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outer.Set(true);
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EXPECT_TRUE(IsAlertActive("outer", kInfo));
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{
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auto inner = MakeAlert("inner", kWarning);
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inner.Set(true);
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EXPECT_TRUE(IsAlertActive("inner", kWarning));
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outer = std::move(inner);
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// Assignment target should be unset and invalidated as part of move, before
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// destruction
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EXPECT_FALSE(IsAlertActive("outer", kInfo));
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}
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EXPECT_TRUE(IsAlertActive("inner", kWarning));
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}
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TEST_F(AlertsTest, MoveConstruct) {
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auto a = MakeAlert("A", kInfo);
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a.Set(true);
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EXPECT_TRUE(IsAlertActive("A", kInfo));
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Alert b{std::move(a)};
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EXPECT_TRUE(IsAlertActive("A", kInfo));
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b.Set(false);
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EXPECT_FALSE(IsAlertActive("A", kInfo));
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b.Set(true);
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EXPECT_TRUE(IsAlertActive("A", kInfo));
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}
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TEST_F(AlertsTest, SortOrder) {
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wpi::sim::PauseTiming();
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auto a = MakeAlert("A", kInfo);
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auto b = MakeAlert("B", kInfo);
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auto c = MakeAlert("C", kInfo);
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a.Set(true);
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EXPECT_STATE(kInfo, "A");
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wpi::sim::StepTiming(1_s);
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b.Set(true);
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EXPECT_STATE(kInfo, "B", "A");
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wpi::sim::StepTiming(1_s);
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c.Set(true);
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EXPECT_STATE(kInfo, "C", "B", "A");
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wpi::sim::StepTiming(1_s);
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c.Set(false);
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EXPECT_STATE(kInfo, "B", "A");
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wpi::sim::StepTiming(1_s);
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c.Set(true);
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EXPECT_STATE(kInfo, "C", "B", "A");
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wpi::sim::StepTiming(1_s);
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a.Set(false);
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EXPECT_STATE(kInfo, "C", "B");
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wpi::sim::StepTiming(1_s);
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b.Set(false);
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EXPECT_STATE(kInfo, "C");
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wpi::sim::StepTiming(1_s);
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b.Set(true);
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EXPECT_STATE(kInfo, "B", "C");
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wpi::sim::StepTiming(1_s);
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a.Set(true);
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EXPECT_STATE(kInfo, "A", "B", "C");
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wpi::sim::ResumeTiming();
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}
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153
wpilibc/src/test/native/cpp/simulation/AlertSimTest.cpp
Normal file
153
wpilibc/src/test/native/cpp/simulation/AlertSimTest.cpp
Normal file
@@ -0,0 +1,153 @@
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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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#include "wpi/simulation/AlertSim.hpp"
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#include <algorithm>
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#include <string>
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#include <utility>
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#include <vector>
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#include <fmt/format.h>
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#include <gtest/gtest.h>
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#include "wpi/driverstation/Alert.hpp"
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#include "wpi/hal/HALBase.h"
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namespace wpi::sim {
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class AlertSimTest : public ::testing::Test {
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public:
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AlertSimTest() { HAL_Initialize(500, 0); }
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~AlertSimTest() override { AlertSim::ResetData(); }
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std::string GetGroupName() {
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const ::testing::TestInfo* testInfo =
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::testing::UnitTest::GetInstance()->current_test_info();
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return fmt::format("{}_{}", testInfo->test_suite_name(), testInfo->name());
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}
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template <typename... Args>
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Alert MakeAlert(Args&&... args) {
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return Alert(GetGroupName(), std::forward<Args>(args)...);
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}
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std::vector<std::string> GetActiveAlerts(Alert::Level type) {
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auto alerts = AlertSim::GetAll();
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std::vector<std::string> activeAlerts;
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for (const auto& alert : alerts) {
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if (alert.isActive() && alert.level == type) {
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activeAlerts.emplace_back(std::move(alert.text));
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}
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}
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return activeAlerts;
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}
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bool IsAlertActive(std::string_view text, Alert::Level type) {
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auto alerts = AlertSim::GetAll();
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return std::any_of(alerts.begin(), alerts.end(),
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[text, type](const AlertSim::AlertInfo& alert) {
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return alert.isActive() && alert.level == type &&
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alert.text == text;
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});
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}
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};
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#define EXPECT_STATE(type, ...) \
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EXPECT_EQ(GetActiveAlerts(type), (std::vector<std::string>{__VA_ARGS__}))
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TEST_F(AlertSimTest, NoAlertsInitially) {
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EXPECT_EQ(AlertSim::GetCount(), 0);
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EXPECT_TRUE(AlertSim::GetAll().empty());
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}
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TEST_F(AlertSimTest, NoAlertsAfterReset) {
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auto alert = MakeAlert("alert", Alert::Level::HIGH);
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alert.Set(true);
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EXPECT_TRUE(IsAlertActive("alert", Alert::Level::HIGH));
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AlertSim::ResetData();
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EXPECT_EQ(AlertSim::GetCount(), 0);
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EXPECT_TRUE(AlertSim::GetAll().empty());
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}
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TEST_F(AlertSimTest, SetUnsetSingle) {
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auto one = MakeAlert("one", Alert::Level::LOW);
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EXPECT_FALSE(IsAlertActive("one", Alert::Level::LOW));
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one.Set(true);
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EXPECT_TRUE(IsAlertActive("one", Alert::Level::LOW));
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one.Set(false);
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EXPECT_FALSE(IsAlertActive("one", Alert::Level::LOW));
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}
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TEST_F(AlertSimTest, SetUnsetMultiple) {
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auto one = MakeAlert("one", Alert::Level::HIGH);
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auto two = MakeAlert("two", Alert::Level::LOW);
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EXPECT_FALSE(IsAlertActive("one", Alert::Level::HIGH));
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EXPECT_FALSE(IsAlertActive("two", Alert::Level::LOW));
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one.Set(true);
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EXPECT_TRUE(IsAlertActive("one", Alert::Level::HIGH));
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EXPECT_FALSE(IsAlertActive("two", Alert::Level::LOW));
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one.Set(true);
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two.Set(true);
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EXPECT_TRUE(IsAlertActive("one", Alert::Level::HIGH));
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EXPECT_TRUE(IsAlertActive("two", Alert::Level::LOW));
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one.Set(false);
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EXPECT_FALSE(IsAlertActive("one", Alert::Level::HIGH));
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EXPECT_TRUE(IsAlertActive("two", Alert::Level::LOW));
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}
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TEST_F(AlertSimTest, SetIsIdempotent) {
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auto a = MakeAlert("A", Alert::Level::LOW);
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auto b = MakeAlert("B", Alert::Level::LOW);
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auto c = MakeAlert("C", Alert::Level::LOW);
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a.Set(true);
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b.Set(true);
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c.Set(true);
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const auto startState = GetActiveAlerts(Alert::Level::LOW);
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b.Set(true);
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EXPECT_STATE(Alert::Level::LOW, startState);
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a.Set(true);
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EXPECT_STATE(Alert::Level::LOW, startState);
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}
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TEST_F(AlertSimTest, DestructorUnsetsAlert) {
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{
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auto alert = MakeAlert("alert", Alert::Level::MEDIUM);
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alert.Set(true);
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EXPECT_TRUE(IsAlertActive("alert", Alert::Level::MEDIUM));
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}
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EXPECT_FALSE(IsAlertActive("alert", Alert::Level::MEDIUM));
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}
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TEST_F(AlertSimTest, SetTextWhileUnset) {
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auto alert = MakeAlert("BEFORE", Alert::Level::LOW);
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EXPECT_EQ("BEFORE", alert.GetText());
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alert.Set(true);
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EXPECT_TRUE(IsAlertActive("BEFORE", Alert::Level::LOW));
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alert.Set(false);
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EXPECT_FALSE(IsAlertActive("BEFORE", Alert::Level::LOW));
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alert.SetText("AFTER");
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EXPECT_EQ("AFTER", alert.GetText());
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alert.Set(true);
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EXPECT_FALSE(IsAlertActive("BEFORE", Alert::Level::LOW));
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EXPECT_TRUE(IsAlertActive("AFTER", Alert::Level::LOW));
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}
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TEST_F(AlertSimTest, SetTextWhileSet) {
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auto alert = MakeAlert("BEFORE", Alert::Level::LOW);
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EXPECT_EQ("BEFORE", alert.GetText());
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alert.Set(true);
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EXPECT_TRUE(IsAlertActive("BEFORE", Alert::Level::LOW));
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alert.SetText("AFTER");
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EXPECT_EQ("AFTER", alert.GetText());
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EXPECT_FALSE(IsAlertActive("BEFORE", Alert::Level::LOW));
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EXPECT_TRUE(IsAlertActive("AFTER", Alert::Level::LOW));
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}
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} // namespace wpi::sim
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