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Remove PIDControllerRunner and mutex from new PIDController (#1795)

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Teams that wish to use it asynchronously may still do so - they simply need to handle the thread safety themselves (it is not that difficult, and can be done more cleanly in the calling code anyway).
This commit is contained in:
Oblarg
2019-08-04 03:01:11 -04:00
committed by Peter Johnson
parent 98d0706de8
commit c9873e81b2
11 changed files with 165 additions and 706 deletions
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46
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
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@@ -24,17 +24,13 @@ import org.junit.runners.Parameterized.Parameters;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.PIDControllerRunner;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.hamcrest.CoreMatchers.is;
import static org.hamcrest.CoreMatchers.not;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
@@ -52,7 +48,6 @@ public class PIDTest extends AbstractComsSetup {
private static final double outputRange = 0.25;
private PIDController m_controller = null;
private PIDControllerRunner m_runner = null;
private static MotorEncoderFixture me = null;
@SuppressWarnings({"MemberName", "EmptyLineSeparator", "MultipleVariableDeclarations"})
@@ -85,8 +80,7 @@ public class PIDTest extends AbstractComsSetup {
double ki = 0.0005;
double kd = 0.0;
for (int i = 0; i < 1; i++) {
data.addAll(Arrays.asList(new Object[][]{
{kp, ki, kd, TestBench.getInstance().getTalonPair()},
data.addAll(Arrays.asList(new Object[][]{{kp, ki, kd, TestBench.getInstance().getTalonPair()},
{kp, ki, kd, TestBench.getInstance().getVictorPair()},
{kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
}
@@ -112,18 +106,14 @@ public class PIDTest extends AbstractComsSetup {
m_builder = new SendableBuilderImpl();
m_builder.setTable(m_table);
m_controller = new PIDController(k_p, k_i, k_d);
m_runner = new PIDControllerRunner(m_controller,
me.getEncoder()::getDistance, me.getMotor()::set);
m_controller.initSendable(m_builder);
}
@After
public void tearDown() {
logger.fine("Teardown: " + me.getType());
m_runner.disable();
m_controller.close();
m_controller = null;
m_runner = null;
me.reset();
}
@@ -141,9 +131,8 @@ public class PIDTest extends AbstractComsSetup {
setupOutputRange();
double reference = 2500.0;
m_controller.setSetpoint(reference);
assertFalse("PID did not begin disabled", m_runner.isEnabled());
assertEquals("PID.getError() did not start at " + reference, reference,
m_controller.getError(), 0);
assertEquals("PID.getError() did not start at " + reference, reference, m_controller.getError(),
0);
m_builder.updateTable();
assertEquals(k_p, m_table.getEntry("Kp").getDouble(9999999), 0);
assertEquals(k_i, m_table.getEntry("Ki").getDouble(9999999), 0);
@@ -152,34 +141,13 @@ public class PIDTest extends AbstractComsSetup {
assertFalse(m_table.getEntry("enabled").getBoolean(true));
}
@Test
public void testRestartAfterEnable() {
setupAbsoluteTolerance();
setupOutputRange();
double reference = 2500.0;
m_controller.setSetpoint(reference);
m_runner.enable();
m_builder.updateTable();
assertTrue(m_table.getEntry("enabled").getBoolean(false));
assertTrue(m_runner.isEnabled());
assertThat(0.0, is(not(me.getMotor().get())));
m_controller.reset();
m_builder.updateTable();
assertFalse(m_table.getEntry("enabled").getBoolean(true));
assertFalse(m_runner.isEnabled());
assertEquals(0, me.getMotor().get(), 0);
}
@Test
public void testSetSetpoint() {
setupAbsoluteTolerance();
setupOutputRange();
double reference = 2500.0;
m_runner.disable();
m_controller.setSetpoint(reference);
m_runner.enable();
assertEquals("Did not correctly set reference", reference, m_controller
.getSetpoint(), 1e-3);
assertEquals("Did not correctly set reference", reference, m_controller.getSetpoint(), 1e-3);
}
@Test(timeout = 10000)
@@ -191,9 +159,11 @@ public class PIDTest extends AbstractComsSetup {
m_controller.setSetpoint(reference);
assertEquals(pidData() + "did not have an error of " + reference, reference,
m_controller.getError(), 0);
m_runner.enable();
Notifier pidRunner = new Notifier(
() -> me.getMotor().set(m_controller.calculate(me.getEncoder().getDistance())));
pidRunner.startPeriodic(m_controller.getPeriod());
Timer.delay(5);
m_runner.disable();
pidRunner.stop();
assertTrue(pidData() + "Was not on Target. Controller Error: " + m_controller.getError(),
m_controller.atSetpoint());
}