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wpilibj/src/test/java/org/wpilib/system/WatchdogTest.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.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.HAL;
+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 WatchdogTest {
+  @BeforeEach
+  void setup() {
+    HAL.initialize(500, 0);
+    SimHooks.pauseTiming();
+  }
+
+  @AfterEach
+  void cleanup() {
+    SimHooks.resumeTiming();
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void enableDisableTest() {
+    final AtomicInteger watchdogCounter = new AtomicInteger(0);
+
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+      // Run 1
+      watchdog.enable();
+      SimHooks.stepTiming(0.2);
+      watchdog.disable();
+
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+      // Run 2
+      watchdogCounter.set(0);
+      watchdog.enable();
+      SimHooks.stepTiming(0.4);
+      watchdog.disable();
+
+      assertEquals(
+          1, watchdogCounter.get(), "Watchdog either didn't trigger or triggered more than once");
+
+      // Run 3
+      watchdogCounter.set(0);
+      watchdog.enable();
+      SimHooks.stepTiming(1.0);
+      watchdog.disable();
+
+      assertEquals(
+          1, watchdogCounter.get(), "Watchdog either didn't trigger or triggered more than once");
+    }
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void resetTest() {
+    final AtomicInteger watchdogCounter = new AtomicInteger(0);
+
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+      watchdog.enable();
+      SimHooks.stepTiming(0.2);
+      watchdog.reset();
+      SimHooks.stepTiming(0.2);
+      watchdog.disable();
+
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+    }
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void setTimeoutTest() {
+    final AtomicInteger watchdogCounter = new AtomicInteger(0);
+
+    try (Watchdog watchdog = new Watchdog(1.0, () -> watchdogCounter.addAndGet(1))) {
+      watchdog.enable();
+      SimHooks.stepTiming(0.2);
+      watchdog.setTimeout(0.2);
+
+      assertEquals(0.2, watchdog.getTimeout());
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+      SimHooks.stepTiming(0.3);
+      watchdog.disable();
+
+      assertEquals(
+          1, watchdogCounter.get(), "Watchdog either didn't trigger or triggered more than once");
+    }
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void isExpiredTest() {
+    try (Watchdog watchdog = new Watchdog(0.2, () -> {})) {
+      assertFalse(watchdog.isExpired());
+      watchdog.enable();
+
+      assertFalse(watchdog.isExpired());
+      SimHooks.stepTiming(0.3);
+      assertTrue(watchdog.isExpired());
+
+      watchdog.disable();
+      assertTrue(watchdog.isExpired());
+
+      watchdog.reset();
+      assertFalse(watchdog.isExpired());
+    }
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void epochsTest() {
+    final AtomicInteger watchdogCounter = new AtomicInteger(0);
+
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+      // Run 1
+      watchdog.enable();
+      watchdog.addEpoch("Epoch 1");
+      SimHooks.stepTiming(0.1);
+      watchdog.addEpoch("Epoch 2");
+      SimHooks.stepTiming(0.1);
+      watchdog.addEpoch("Epoch 3");
+      watchdog.disable();
+
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+      // Run 2
+      watchdog.enable();
+      watchdog.addEpoch("Epoch 1");
+      SimHooks.stepTiming(0.2);
+      watchdog.reset();
+      SimHooks.stepTiming(0.2);
+      watchdog.addEpoch("Epoch 2");
+      watchdog.disable();
+
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+    }
+  }
+
+  @Test
+  @ResourceLock("timing")
+  void multiWatchdogTest() {
+    final AtomicInteger watchdogCounter1 = new AtomicInteger(0);
+    final AtomicInteger watchdogCounter2 = new AtomicInteger(0);
+
+    try (Watchdog watchdog1 = new Watchdog(0.2, () -> watchdogCounter1.addAndGet(1));
+        Watchdog watchdog2 = new Watchdog(0.6, () -> watchdogCounter2.addAndGet(1))) {
+      watchdog2.enable();
+      SimHooks.stepTiming(0.25);
+      assertEquals(0, watchdogCounter1.get(), "Watchdog triggered early");
+      assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
+
+      // Sleep enough such that only the watchdog enabled later times out first
+      watchdog1.enable();
+      SimHooks.stepTiming(0.25);
+      watchdog1.disable();
+      watchdog2.disable();
+
+      assertEquals(
+          1, watchdogCounter1.get(), "Watchdog either didn't trigger or triggered more than once");
+      assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
+    }
+  }
+}