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[examples] DigitalCommunication, I2CCommunication: Add tests (#4865)

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This commit is contained in:
Starlight220
2023-01-09 02:33:53 +02:00
committed by GitHub
parent 2cd9be413f
commit 79f565191e
13 changed files with 709 additions and 74 deletions
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49
wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
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// 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/DigitalOutput.h>
#include "Robot.h"
#include <frc/DriverStation.h>
#include <frc/TimedRobot.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's DIO ports.
*/
class Robot : public frc::TimedRobot {
public:
void RobotPeriodic() override {
// pull alliance port high if on red alliance, pull low if on blue alliance
m_allianceOutput.Set(frc::DriverStation::GetAlliance() ==
frc::DriverStation::kRed);
void Robot::RobotPeriodic() {
// pull alliance port high if on red alliance, pull low if on blue alliance
m_allianceOutput.Set(frc::DriverStation::GetAlliance() ==
frc::DriverStation::kRed);
// pull enabled port high if enabled, low if disabled
m_enabledOutput.Set(frc::DriverStation::IsEnabled());
// pull enabled port high if enabled, low if disabled
m_enabledOutput.Set(frc::DriverStation::IsEnabled());
// pull auto port high if in autonomous, low if in teleop (or disabled)
m_autonomousOutput.Set(frc::DriverStation::IsAutonomous());
// pull auto port high if in autonomous, low if in teleop (or disabled)
m_autonomousOutput.Set(frc::DriverStation::IsAutonomous());
// pull alert port high if match time remaining is between 30 and 25 seconds
auto matchTime = frc::DriverStation::GetMatchTime();
m_alertOutput.Set(matchTime <= 30 && matchTime >= 25);
}
private:
// define ports for communication with light controller
static constexpr int kAlliancePort = 0;
static constexpr int kEnabledPort = 1;
static constexpr int kAutonomousPort = 2;
static constexpr int kAlertPort = 3;
frc::DigitalOutput m_allianceOutput{kAlliancePort};
frc::DigitalOutput m_enabledOutput{kEnabledPort};
frc::DigitalOutput m_autonomousOutput{kAutonomousPort};
frc::DigitalOutput m_alertOutput{kAlertPort};
};
// pull alert port high if match time remaining is between 30 and 25 seconds
auto matchTime = frc::DriverStation::GetMatchTime();
m_alertOutput.Set(matchTime <= 30 && matchTime >= 25);
}
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

31
wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.h Normal file
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// 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.
#pragma once
#include <array>
#include <frc/DigitalOutput.h>
#include <frc/TimedRobot.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's DIO ports.
*/
class Robot : public frc::TimedRobot {
public:
// define ports for communication with light controller
static constexpr int kAlliancePort = 0;
static constexpr int kEnabledPort = 1;
static constexpr int kAutonomousPort = 2;
static constexpr int kAlertPort = 3;
void RobotPeriodic() override;
private:
frc::DigitalOutput m_allianceOutput{kAlliancePort};
frc::DigitalOutput m_enabledOutput{kEnabledPort};
frc::DigitalOutput m_autonomousOutput{kAutonomousPort};
frc::DigitalOutput m_alertOutput{kAlertPort};
};

55
wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
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// 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 "Robot.h"
#include <fmt/format.h>
#include <frc/DriverStation.h>
#include <frc/I2C.h>
#include <frc/TimedRobot.h>
#include <frc/Timer.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's I2C port.
*/
class Robot : public frc::TimedRobot {
public:
void RobotPeriodic() override {
// Creates a string to hold current robot state information, including
// alliance, enabled state, operation mode, and match time. The message
// is sent in format "AEM###" where A is the alliance color, (R)ed or
// (B)lue, E is the enabled state, (E)nabled or (D)isabled, M is the
// operation mode, (A)utonomous or (T)eleop, and ### is the zero-padded
// time remaining in the match.
//
// For example, "RET043" would indicate that the robot is on the red
// alliance, enabled in teleop mode, with 43 seconds left in the match.
auto string = fmt::format(
"{}{}{}{:03}",
frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed
? "R"
: "B",
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
void Robot::RobotPeriodic() {
// Creates a string to hold current robot state information, including
// alliance, enabled state, operation mode, and match time. The message
// is sent in format "AEM###" where A is the alliance color, (R)ed or
// (B)lue, E is the enabled state, (E)nabled or (D)isabled, M is the
// operation mode, (A)utonomous or (T)eleop, and ### is the zero-padded
// time remaining in the match.
//
// For example, "RET043" would indicate that the robot is on the red
// alliance, enabled in teleop mode, with 43 seconds left in the match.
auto string = fmt::format(
"{}{}{}{:03}",
frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed
? "R"
: "B",
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}
private:
static constexpr int deviceAddress = 4;
frc::I2C arduino{frc::I2C::Port::kOnboard, deviceAddress};
};
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}
#ifndef RUNNING_FRC_TESTS
int main() {

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wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.h Normal file
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// 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.
#pragma once
#include <array>
#include <frc/I2C.h>
#include <frc/TimedRobot.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's I2C port.
*/
class Robot : public frc::TimedRobot {
public:
void RobotPeriodic() override;
static constexpr frc::I2C::Port kPort = frc::I2C::Port::kOnboard;
private:
static constexpr int deviceAddress = 4;
frc::I2C arduino{kPort, deviceAddress};
};

153
wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp Normal file
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// 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 <gtest/gtest.h>
#include <string>
#include <thread>
#include <frc/simulation/DIOSim.h>
#include <frc/simulation/DriverStationSim.h>
#include <frc/simulation/SimHooks.h>
#include <units/time.h>
#include "Robot.h"
template <typename T>
class DigitalCommunicationTest : public testing::TestWithParam<T> {
public:
frc::sim::DIOSim m_allianceOutput{Robot::kAlliancePort};
frc::sim::DIOSim m_enabledOutput{Robot::kEnabledPort};
frc::sim::DIOSim m_autonomousOutput{Robot::kAutonomousPort};
frc::sim::DIOSim m_alertOutput{Robot::kAlertPort};
Robot m_robot;
std::optional<std::thread> m_thread;
void SetUp() override {
frc::sim::PauseTiming();
frc::sim::DriverStationSim::ResetData();
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms);
// SimHooks.stepTiming(0.0); // Wait for Notifiers
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
m_allianceOutput.ResetData();
m_enabledOutput.ResetData();
m_autonomousOutput.ResetData();
m_alertOutput.ResetData();
}
};
class AllianceTest : public DigitalCommunicationTest<HAL_AllianceStationID> {};
TEST_P(AllianceTest, Alliance) {
auto alliance = GetParam();
frc::sim::DriverStationSim::SetAllianceStationId(alliance);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_allianceOutput.GetInitialized());
EXPECT_FALSE(m_allianceOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
bool isRed;
switch (alliance) {
case HAL_AllianceStationID_kBlue1:
case HAL_AllianceStationID_kBlue2:
case HAL_AllianceStationID_kBlue3:
isRed = false;
break;
case HAL_AllianceStationID_kRed1:
case HAL_AllianceStationID_kRed2:
case HAL_AllianceStationID_kRed3:
isRed = true;
break;
}
EXPECT_EQ(isRed, m_allianceOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(
DigitalCommunicationTests, AllianceTest,
testing::Values<HAL_AllianceStationID>(
HAL_AllianceStationID_kRed1, HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3, HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2, HAL_AllianceStationID_kBlue3),
[](const testing::TestParamInfo<AllianceTest::ParamType>& info) {
switch (info.param) {
case HAL_AllianceStationID_kBlue1:
return std::string{"Blue1"};
case HAL_AllianceStationID_kBlue2:
return std::string{"Blue2"};
case HAL_AllianceStationID_kBlue3:
return std::string{"Blue3"};
case HAL_AllianceStationID_kRed1:
return std::string{"Red1"};
case HAL_AllianceStationID_kRed2:
return std::string{"Red2"};
case HAL_AllianceStationID_kRed3:
return std::string{"Red3"};
}
return std::string{"Error"};
});
class EnabledTest : public DigitalCommunicationTest<bool> {};
TEST_P(EnabledTest, Enabled) {
auto enabled = GetParam();
frc::sim::DriverStationSim::SetEnabled(enabled);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_enabledOutput.GetInitialized());
EXPECT_FALSE(m_enabledOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
EXPECT_EQ(enabled, m_enabledOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(DigitalCommunicationTests, EnabledTest,
testing::Bool(), testing::PrintToStringParamName());
class AutonomousTest : public DigitalCommunicationTest<bool> {};
TEST_P(AutonomousTest, Autonomous) {
auto autonomous = GetParam();
frc::sim::DriverStationSim::SetAutonomous(autonomous);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_autonomousOutput.GetInitialized());
EXPECT_FALSE(m_autonomousOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
EXPECT_EQ(autonomous, m_autonomousOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(DigitalCommunicationTests, AutonomousTest,
testing::Bool(), testing::PrintToStringParamName());
class AlertTest : public DigitalCommunicationTest<double> {};
TEST_P(AlertTest, Alert) {
auto matchTime = GetParam();
frc::sim::DriverStationSim::SetMatchTime(matchTime);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_alertOutput.GetInitialized());
EXPECT_FALSE(m_alertOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
EXPECT_EQ(matchTime <= 30 && matchTime >= 25, m_alertOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(
DigitalCommunicationTests, AlertTest, testing::Values(45.0, 27.0, 23.0),
[](const testing::TestParamInfo<double>& info) {
return testing::PrintToString(info.param).append("_s");
});

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wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/main.cpp Normal file
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// 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 <hal/HALBase.h>
#include "gtest/gtest.h"
/**
* Runs all unit tests.
*/
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}

160
wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp Normal file
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// 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 <gtest/gtest.h>
#include <string>
#include <thread>
#include <frc/simulation/DriverStationSim.h>
#include <frc/simulation/SimHooks.h>
#include <hal/simulation/I2CData.h>
#include <units/time.h>
#include "Robot.h"
static std::string gString;
void callback(const char* name, void* param, const unsigned char* buffer,
unsigned int count) {
gString.assign(reinterpret_cast<const char*>(buffer),
static_cast<int>(count));
}
template <typename T>
class I2CCommunicationTest : public testing::TestWithParam<T> {
public:
Robot m_robot;
std::optional<std::thread> m_thread;
int32_t m_callback;
int32_t m_port;
void SetUp() override {
gString = std::string();
frc::sim::PauseTiming();
frc::sim::DriverStationSim::ResetData();
m_port = static_cast<int32_t>(Robot::kPort);
m_callback = HALSIM_RegisterI2CWriteCallback(m_port, &callback, nullptr);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms); // Wait for Notifiers
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
HALSIM_CancelI2CWriteCallback(m_port, m_callback);
HALSIM_ResetI2CData(m_port);
}
};
class AllianceTest : public I2CCommunicationTest<HAL_AllianceStationID> {};
TEST_P(AllianceTest, Alliance) {
auto alliance = GetParam();
frc::sim::DriverStationSim::SetAllianceStationId(alliance);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
char expected;
switch (alliance) {
case HAL_AllianceStationID_kBlue1:
case HAL_AllianceStationID_kBlue2:
case HAL_AllianceStationID_kBlue3:
expected = 'B';
break;
case HAL_AllianceStationID_kRed1:
case HAL_AllianceStationID_kRed2:
case HAL_AllianceStationID_kRed3:
expected = 'R';
break;
}
EXPECT_EQ(expected, gString.at(0));
}
INSTANTIATE_TEST_SUITE_P(
I2CCommunicationTests, AllianceTest,
testing::Values<HAL_AllianceStationID>(
HAL_AllianceStationID_kRed1, HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3, HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2, HAL_AllianceStationID_kBlue3),
[](const testing::TestParamInfo<AllianceTest::ParamType>& info) {
switch (info.param) {
case HAL_AllianceStationID_kBlue1:
return std::string{"Blue1"};
case HAL_AllianceStationID_kBlue2:
return std::string{"Blue2"};
case HAL_AllianceStationID_kBlue3:
return std::string{"Blue3"};
case HAL_AllianceStationID_kRed1:
return std::string{"Red1"};
case HAL_AllianceStationID_kRed2:
return std::string{"Red2"};
case HAL_AllianceStationID_kRed3:
return std::string{"Red3"};
}
return std::string{"Error"};
});
class EnabledTest : public I2CCommunicationTest<bool> {};
TEST_P(EnabledTest, Enabled) {
auto enabled = GetParam();
frc::sim::DriverStationSim::SetEnabled(enabled);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
char expected = enabled ? 'E' : 'D';
EXPECT_EQ(expected, gString.at(1));
}
INSTANTIATE_TEST_SUITE_P(I2CCommunicationTests, EnabledTest, testing::Bool(),
testing::PrintToStringParamName());
class AutonomousTest : public I2CCommunicationTest<bool> {};
TEST_P(AutonomousTest, Autonomous) {
auto autonomous = GetParam();
frc::sim::DriverStationSim::SetAutonomous(autonomous);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
char expected = autonomous ? 'A' : 'T';
EXPECT_EQ(expected, gString.at(2));
}
INSTANTIATE_TEST_SUITE_P(I2CCommunicationTests, AutonomousTest, testing::Bool(),
testing::PrintToStringParamName());
class MatchTimeTest : public I2CCommunicationTest<int> {};
TEST_P(MatchTimeTest, Alert) {
auto matchTime = GetParam();
frc::sim::DriverStationSim::SetMatchTime(matchTime);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
std::string expected = fmt::format("{:03}", matchTime);
EXPECT_EQ(expected, gString.substr(3));
}
INSTANTIATE_TEST_SUITE_P(
I2CCommunicationTests, MatchTimeTest, testing::Values(112, 45, 27, 23, 3),
[](const testing::TestParamInfo<int>& info) {
return testing::PrintToString(info.param).append("_s");
});

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wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/main.cpp Normal file
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// 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 <hal/HALBase.h>
#include "gtest/gtest.h"
/**
* Runs all unit tests.
*/
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}