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wpilibj/src/test/java/org/wpilib/opmode/TimesliceRobotTest.java

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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.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.util.concurrent.atomic.AtomicInteger;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.parallel.ResourceLock;
+
+class TimesliceRobotTest {
+  static class MockRobot extends TimesliceRobot {
+    public final AtomicInteger m_robotPeriodicCount = new AtomicInteger(0);
+
+    MockRobot() {
+      super(0.002, 0.005);
+    }
+
+    @Override
+    public void robotPeriodic() {
+      m_robotPeriodicCount.addAndGet(1);
+    }
+  }
+
+  @BeforeEach
+  void setup() {
+    SimHooks.pauseTiming();
+  }
+
+  @AfterEach
+  void cleanup() {
+    SimHooks.resumeTiming();
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void scheduleTest() {
+    MockRobot robot = new MockRobot();
+
+    final AtomicInteger callbackCount1 = new AtomicInteger(0);
+    final AtomicInteger callbackCount2 = new AtomicInteger(0);
+
+    // Timeslice allocation table
+    //
+    // |       Name      | Offset (ms) | Allocation (ms)|
+    // |-----------------|-------------|----------------|
+    // | RobotPeriodic() |           0 |              2 |
+    // | Callback 1      |           2 |            0.5 |
+    // | Callback 2      |         2.5 |              1 |
+    robot.schedule(() -> callbackCount1.addAndGet(1), 0.0005);
+    robot.schedule(() -> callbackCount2.addAndGet(1), 0.001);
+
+    Thread robotThread = new Thread(robot::startCompetition);
+    robotThread.start();
+
+    DriverStationSim.setEnabled(false);
+    DriverStationSim.notifyNewData();
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
+
+    // Functions scheduled with addPeriodic() are delayed by one period before
+    // their first run (5 ms for this test's callbacks here and 20 ms for
+    // robotPeriodic()).
+    SimHooks.stepTiming(0.005);
+
+    assertEquals(0, robot.m_robotPeriodicCount.get());
+    assertEquals(0, callbackCount1.get());
+    assertEquals(0, callbackCount2.get());
+
+    // Step to 1.5 ms
+    SimHooks.stepTiming(0.0015);
+    assertEquals(0, robot.m_robotPeriodicCount.get());
+    assertEquals(0, callbackCount1.get());
+    assertEquals(0, callbackCount2.get());
+
+    // Step to 2.25 ms
+    SimHooks.stepTiming(0.00075);
+    assertEquals(0, robot.m_robotPeriodicCount.get());
+    assertEquals(1, callbackCount1.get());
+    assertEquals(0, callbackCount2.get());
+
+    // Step to 2.75 ms
+    SimHooks.stepTiming(0.0005);
+    assertEquals(0, robot.m_robotPeriodicCount.get());
+    assertEquals(1, callbackCount1.get());
+    assertEquals(1, callbackCount2.get());
+
+    robot.endCompetition();
+    try {
+      robotThread.interrupt();
+      robotThread.join();
+    } catch (InterruptedException ex) {
+      Thread.currentThread().interrupt();
+    }
+    robot.close();
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void scheduleOverrunTest() {
+    MockRobot robot = new MockRobot();
+
+    robot.schedule(() -> {}, 0.0005);
+    robot.schedule(() -> {}, 0.001);
+
+    // offset = 2 ms + 0.5 ms + 1 ms = 3.5 ms
+    // 3.5 ms + 3 ms allocation = 6.5 ms > max of 5 ms
+    assertThrows(IllegalStateException.class, () -> robot.schedule(() -> {}, 0.003));
+
+    robot.endCompetition();
+    robot.close();
+  }
+}