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[wpilib] Add timestamp getters with configurable time base (#7378)

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This commit is contained in:
Jonah Bonner
2024-11-16 10:43:38 -05:00
committed by GitHub
parent 91142ba5fe
commit ca51197486
27 changed files with 180 additions and 53 deletions
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32
wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
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@@ -25,7 +25,6 @@ import static edu.wpi.first.wpilibj.util.Color.kYellow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.fail;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
import java.util.Map;
@@ -36,6 +35,8 @@ import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
class LEDPatternTest {
long m_mockTime;
// Applies a pattern of White, Yellow, Purple to LED triplets
LEDPattern m_whiteYellowPurple =
(reader, writer) -> {
@@ -59,14 +60,13 @@ class LEDPatternTest {
@BeforeEach
void setUp() {
WPIUtilJNI.enableMockTime();
WPIUtilJNI.setMockTime(0L);
m_mockTime = 0;
RobotController.setTimeSource(() -> m_mockTime);
}
@AfterEach
void tearDown() {
WPIUtilJNI.setMockTime(0L);
WPIUtilJNI.disableMockTime();
RobotController.setTimeSource(RobotController::getFPGATime);
}
@Test
@@ -220,7 +220,7 @@ class LEDPatternTest {
var scroll = base.scrollAtRelativeSpeed(Value.per(Microsecond).of(1 / 256.0));
for (int time = 0; time < 500; time++) {
WPIUtilJNI.setMockTime(time);
m_mockTime = time;
scroll.applyTo(buffer);
for (int led = 0; led < buffer.getLength(); led++) {
@@ -254,7 +254,7 @@ class LEDPatternTest {
var scroll = base.scrollAtRelativeSpeed(Value.per(Microsecond).of(-1 / 256.0));
for (int time = 0; time < 500; time++) {
WPIUtilJNI.setMockTime(time);
m_mockTime = time;
scroll.applyTo(buffer);
for (int led = 0; led < buffer.getLength(); led++) {
@@ -290,7 +290,7 @@ class LEDPatternTest {
var scroll = base.scrollAtAbsoluteSpeed(MetersPerSecond.of(16), Centimeters.of(2));
for (int time = 0; time < 500; time++) {
WPIUtilJNI.setMockTime(time * 1_250); // 1.25ms per LED
m_mockTime = time * 1_250; // 1.25ms per LED
scroll.applyTo(buffer);
for (int led = 0; led < buffer.getLength(); led++) {
@@ -326,7 +326,7 @@ class LEDPatternTest {
var scroll = base.scrollAtAbsoluteSpeed(MetersPerSecond.of(-16), Centimeters.of(2));
for (int time = 0; time < 500; time++) {
WPIUtilJNI.setMockTime(time * 1_250); // 1.25ms per LED
m_mockTime = time * 1_250; // 1.25ms per LED
scroll.applyTo(buffer);
for (int led = 0; led < buffer.getLength(); led++) {
@@ -539,7 +539,7 @@ class LEDPatternTest {
var buffer = new AddressableLEDBuffer(1);
for (int t = 0; t < 8; t++) {
WPIUtilJNI.setMockTime(t * 1_000_000L); // time travel 1 second
m_mockTime = t * 1_000_000L; // time travel 1 second
pattern.applyTo(buffer);
Color color = buffer.getLED(0);
@@ -571,7 +571,7 @@ class LEDPatternTest {
var buffer = new AddressableLEDBuffer(1);
for (int t = 0; t < 8; t++) {
WPIUtilJNI.setMockTime(t * 1_000_000L); // time travel 1 second
m_mockTime = t * 1_000_000L; // time travel 1 second
pattern.applyTo(buffer);
Color color = buffer.getLED(0);
@@ -623,31 +623,31 @@ class LEDPatternTest {
var buffer = new AddressableLEDBuffer(1);
{
WPIUtilJNI.setMockTime(0); // start
m_mockTime = 0; // start
pattern.applyTo(buffer);
assertColorEquals(kWhite, buffer.getLED(0));
}
{
WPIUtilJNI.setMockTime(1); // midway (down)
m_mockTime = 1; // midway (down)
pattern.applyTo(buffer);
assertColorEquals(midGray, buffer.getLED(0));
}
{
WPIUtilJNI.setMockTime(2); // bottom
m_mockTime = 2; // bottom
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
}
{
WPIUtilJNI.setMockTime(3); // midway (up)
m_mockTime = 3; // midway (up)
pattern.applyTo(buffer);
assertColorEquals(midGray, buffer.getLED(0));
}
{
WPIUtilJNI.setMockTime(4); // back to start
m_mockTime = 4; // back to start
pattern.applyTo(buffer);
assertColorEquals(kWhite, buffer.getLED(0));
}