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[hal] Fix interrupt edges being flipped in sim (#6720)

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Gold856
2024-07-16 20:26:35 -04:00
committed by GitHub
parent 59256f0e00
commit e5b7cf4c76
3 changed files with 160 additions and 20 deletions
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78
wpilibj/src/test/java/edu/wpi/first/wpilibj/InterruptTest.java
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@@ -4,7 +4,9 @@
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertAll;
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.wpilibj.simulation.DIOSim;
@@ -22,7 +24,7 @@ class InterruptTest {
AsynchronousInterrupt interrupt =
new AsynchronousInterrupt(
di,
(a, b) -> {
(rising, falling) -> {
counter.incrementAndGet();
hasFired.set(true);
})) {
@@ -43,4 +45,78 @@ class InterruptTest {
assertEquals(1, counter.get(), "The interrupt did not fire the expected number of times");
}
}
@Test
void testRisingEdge() {
AtomicBoolean hasFiredFallingEdge = new AtomicBoolean(false);
AtomicBoolean hasFiredRisingEdge = new AtomicBoolean(false);
try (DigitalInput di = new DigitalInput(0);
AsynchronousInterrupt interrupt =
new AsynchronousInterrupt(
di,
(rising, falling) -> {
hasFiredFallingEdge.set(falling);
hasFiredRisingEdge.set(rising);
})) {
interrupt.setInterruptEdges(true, true);
DIOSim digitalSim = new DIOSim(di);
digitalSim.setValue(false);
Timer.delay(0.5);
interrupt.enable();
Timer.delay(0.01);
digitalSim.setValue(true);
Timer.delay(0.01);
int count = 0;
while (!hasFiredRisingEdge.get()) {
Timer.delay(0.005);
count++;
assertTrue(count < 1000);
}
assertAll(
() ->
assertFalse(hasFiredFallingEdge.get(), "The interrupt triggered on the falling edge"),
() ->
assertTrue(
hasFiredRisingEdge.get(), "The interrupt did not trigger on the rising edge"));
}
}
@Test
void testFallingEdge() {
AtomicBoolean hasFiredFallingEdge = new AtomicBoolean(false);
AtomicBoolean hasFiredRisingEdge = new AtomicBoolean(false);
try (DigitalInput di = new DigitalInput(0);
AsynchronousInterrupt interrupt =
new AsynchronousInterrupt(
di,
(rising, falling) -> {
hasFiredFallingEdge.set(falling);
hasFiredRisingEdge.set(rising);
})) {
interrupt.setInterruptEdges(true, true);
DIOSim digitalSim = new DIOSim(di);
digitalSim.setValue(true);
Timer.delay(0.5);
interrupt.enable();
Timer.delay(0.01);
digitalSim.setValue(false);
Timer.delay(0.01);
int count = 0;
while (!hasFiredFallingEdge.get()) {
Timer.delay(0.005);
count++;
assertTrue(count < 1000);
}
assertAll(
() ->
assertTrue(
hasFiredFallingEdge.get(), "The interrupt did not trigger on the rising edge"),
() ->
assertFalse(hasFiredRisingEdge.get(), "The interrupt triggered on the rising edge"));
}
}
}