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https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
[wpilib] Add TimedRobot unit tests (#2771)
To make the tests reliable, the synchronization in simulation Notifiers had to be reworked. StepTiming() now waits for all Notifiers to reach HAL_WaitForNotifierAlarm(), then steps the time, then lets any expired Notifiers run. While there, we made some variable names more descriptive and added more comments.
This commit is contained in:
Tyler Veness
311
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
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311
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/TimedRobot.h" // NOLINT(build/include_order)
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#include <stdint.h>
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#include <atomic>
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#include <thread>
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#include "frc/simulation/DriverStationSim.h"
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#include "frc/simulation/SimHooks.h"
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#include "gtest/gtest.h"
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using namespace frc;
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namespace {
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class TimedRobotTest : public ::testing::Test {
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protected:
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void SetUp() override { frc::sim::PauseTiming(); }
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void TearDown() override { frc::sim::ResumeTiming(); }
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};
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class MockRobot : public TimedRobot {
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public:
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std::atomic<uint32_t> m_robotInitCount{0};
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std::atomic<uint32_t> m_simulationInitCount{0};
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std::atomic<uint32_t> m_disabledInitCount{0};
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std::atomic<uint32_t> m_autonomousInitCount{0};
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std::atomic<uint32_t> m_teleopInitCount{0};
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std::atomic<uint32_t> m_testInitCount{0};
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std::atomic<uint32_t> m_robotPeriodicCount{0};
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std::atomic<uint32_t> m_simulationPeriodicCount{0};
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std::atomic<uint32_t> m_disabledPeriodicCount{0};
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std::atomic<uint32_t> m_autonomousPeriodicCount{0};
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std::atomic<uint32_t> m_teleopPeriodicCount{0};
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std::atomic<uint32_t> m_testPeriodicCount{0};
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void RobotInit() override { m_robotInitCount++; }
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void SimulationInit() override { m_simulationInitCount++; }
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void DisabledInit() override { m_disabledInitCount++; }
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void AutonomousInit() override { m_autonomousInitCount++; }
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void TeleopInit() override { m_teleopInitCount++; }
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void TestInit() override { m_testInitCount++; }
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void RobotPeriodic() override { m_robotPeriodicCount++; }
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void SimulationPeriodic() override { m_simulationPeriodicCount++; }
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void DisabledPeriodic() override { m_disabledPeriodicCount++; }
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void AutonomousPeriodic() override { m_autonomousPeriodicCount++; }
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void TeleopPeriodic() override { m_teleopPeriodicCount++; }
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void TestPeriodic() override { m_testPeriodicCount++; }
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};
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} // namespace
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TEST_F(TimedRobotTest, Disabled) {
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MockRobot robot;
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(1u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(1u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(2u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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robot.EndCompetition();
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robotThread.join();
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}
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TEST_F(TimedRobotTest, Autonomous) {
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MockRobot robot;
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(true);
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frc::sim::DriverStationSim::SetAutonomous(true);
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frc::sim::DriverStationSim::SetTest(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(1u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(1u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(1u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(2u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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robot.EndCompetition();
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robotThread.join();
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}
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TEST_F(TimedRobotTest, Teleop) {
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MockRobot robot;
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(true);
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frc::sim::DriverStationSim::SetAutonomous(false);
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frc::sim::DriverStationSim::SetTest(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(1u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(1u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(1u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(2u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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robot.EndCompetition();
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robotThread.join();
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}
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TEST_F(TimedRobotTest, Test) {
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MockRobot robot;
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(true);
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frc::sim::DriverStationSim::SetAutonomous(false);
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frc::sim::DriverStationSim::SetTest(true);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(0u, robot.m_testInitCount);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(0u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(1u, robot.m_testInitCount);
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EXPECT_EQ(1u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(1u, robot.m_testPeriodicCount);
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frc::sim::StepTiming(20_ms);
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EXPECT_EQ(1u, robot.m_robotInitCount);
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EXPECT_EQ(1u, robot.m_simulationInitCount);
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EXPECT_EQ(0u, robot.m_disabledInitCount);
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EXPECT_EQ(0u, robot.m_autonomousInitCount);
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EXPECT_EQ(0u, robot.m_teleopInitCount);
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EXPECT_EQ(1u, robot.m_testInitCount);
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EXPECT_EQ(2u, robot.m_robotPeriodicCount);
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EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
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EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
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EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
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EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
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EXPECT_EQ(2u, robot.m_testPeriodicCount);
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robot.EndCompetition();
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robotThread.join();
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}
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