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102 lines
2.8 KiB
C++
102 lines
2.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/opmode/TimesliceRobot.hpp" // NOLINT(build/include_order)
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#include <stdint.h>
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#include <atomic>
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#include <thread>
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#include <gtest/gtest.h>
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#include "wpi/simulation/DriverStationSim.hpp"
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#include "wpi/simulation/SimHooks.hpp"
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using namespace frc;
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namespace {
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class TimesliceRobotTest : public ::testing::Test {
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protected:
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void SetUp() override { frc::sim::PauseTiming(); }
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void TearDown() override { frc::sim::ResumeTiming(); }
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};
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class MockRobot : public TimesliceRobot {
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public:
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std::atomic<uint32_t> m_robotPeriodicCount{0};
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MockRobot() : TimesliceRobot{2_ms, 5_ms} {}
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void RobotPeriodic() override { m_robotPeriodicCount++; }
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};
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} // namespace
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TEST_F(TimesliceRobotTest, Schedule) {
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MockRobot robot;
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std::atomic<uint32_t> callbackCount1{0};
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std::atomic<uint32_t> callbackCount2{0};
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// Timeslice allocation table
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//
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// | Name | Offset (ms) | Allocation (ms)|
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// |-----------------|-------------|----------------|
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// | RobotPeriodic() | 0 | 2 |
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// | Callback 1 | 2 | 0.5 |
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// | Callback 2 | 2.5 | 1 |
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robot.Schedule([&] { callbackCount1++; }, 0.5_ms);
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robot.Schedule([&] { callbackCount2++; }, 1_ms);
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std::thread robotThread{[&] { robot.StartCompetition(); }};
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frc::sim::DriverStationSim::SetEnabled(false);
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frc::sim::DriverStationSim::NotifyNewData();
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frc::sim::StepTiming(0_ms); // Wait for Notifiers
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// Functions scheduled with addPeriodic() are delayed by one period before
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// their first run (5 ms for this test's callbacks here and 20 ms for
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// robotPeriodic()).
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frc::sim::StepTiming(5_ms);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, callbackCount1);
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EXPECT_EQ(0u, callbackCount2);
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// Step to 1.5 ms
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frc::sim::StepTiming(1.5_ms);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(0u, callbackCount1);
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EXPECT_EQ(0u, callbackCount2);
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// Step to 2.25 ms
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frc::sim::StepTiming(0.75_ms);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, callbackCount1);
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EXPECT_EQ(0u, callbackCount2);
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// Step to 2.75 ms
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frc::sim::StepTiming(0.5_ms);
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EXPECT_EQ(0u, robot.m_robotPeriodicCount);
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EXPECT_EQ(1u, callbackCount1);
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EXPECT_EQ(1u, callbackCount2);
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robot.EndCompetition();
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robotThread.join();
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}
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TEST_F(TimesliceRobotTest, ScheduleOverrun) {
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MockRobot robot;
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robot.Schedule([] {}, 0.5_ms);
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robot.Schedule([] {}, 1_ms);
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// offset = 2 ms + 0.5 ms + 1 ms = 3.5 ms
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// 3.5 ms + 3 ms allocation = 6.5 ms > max of 5 ms
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EXPECT_THROW(robot.Schedule([] {}, 3_ms), std::runtime_error);
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robot.EndCompetition();
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}
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