mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d6f185d8e5
I started with the output of styleguide#217, then renamed a few classes to fix compilation. ntcore's StorageTest needed some manual renaming since it put the Test word in the middle instead of at the end. One limitation of wpiformat is test cases that were only named "Test" were unmodified, and an error was generated. These test cases were manually given more descriptive names: * TimedRobotTest mode test cases had "Mode" appended to the name. Java tests were renamed to match. * UvAsyncTest and UvAsyncFunctionTest cases were given alternate names
571 lines
18 KiB
C++
571 lines
18 KiB
C++
// 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.
|
|
|
|
#include "frc/TimedRobot.h" // NOLINT(build/include_order)
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <atomic>
|
|
#include <thread>
|
|
|
|
#include "frc/simulation/DriverStationSim.h"
|
|
#include "frc/simulation/SimHooks.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
using namespace frc;
|
|
|
|
namespace {
|
|
class TimedRobotTest : public ::testing::Test {
|
|
protected:
|
|
void SetUp() override { frc::sim::PauseTiming(); }
|
|
|
|
void TearDown() override { frc::sim::ResumeTiming(); }
|
|
};
|
|
|
|
class MockRobot : public TimedRobot {
|
|
public:
|
|
std::atomic<uint32_t> m_robotInitCount{0};
|
|
std::atomic<uint32_t> m_simulationInitCount{0};
|
|
std::atomic<uint32_t> m_disabledInitCount{0};
|
|
std::atomic<uint32_t> m_autonomousInitCount{0};
|
|
std::atomic<uint32_t> m_teleopInitCount{0};
|
|
std::atomic<uint32_t> m_testInitCount{0};
|
|
|
|
std::atomic<uint32_t> m_disabledExitCount{0};
|
|
std::atomic<uint32_t> m_autonomousExitCount{0};
|
|
std::atomic<uint32_t> m_teleopExitCount{0};
|
|
std::atomic<uint32_t> m_testExitCount{0};
|
|
|
|
std::atomic<uint32_t> m_robotPeriodicCount{0};
|
|
std::atomic<uint32_t> m_simulationPeriodicCount{0};
|
|
std::atomic<uint32_t> m_disabledPeriodicCount{0};
|
|
std::atomic<uint32_t> m_autonomousPeriodicCount{0};
|
|
std::atomic<uint32_t> m_teleopPeriodicCount{0};
|
|
std::atomic<uint32_t> m_testPeriodicCount{0};
|
|
|
|
void RobotInit() override { m_robotInitCount++; }
|
|
|
|
void SimulationInit() override { m_simulationInitCount++; }
|
|
|
|
void DisabledInit() override { m_disabledInitCount++; }
|
|
|
|
void AutonomousInit() override { m_autonomousInitCount++; }
|
|
|
|
void TeleopInit() override { m_teleopInitCount++; }
|
|
|
|
void TestInit() override { m_testInitCount++; }
|
|
|
|
void RobotPeriodic() override { m_robotPeriodicCount++; }
|
|
|
|
void SimulationPeriodic() override { m_simulationPeriodicCount++; }
|
|
|
|
void DisabledPeriodic() override { m_disabledPeriodicCount++; }
|
|
|
|
void AutonomousPeriodic() override { m_autonomousPeriodicCount++; }
|
|
|
|
void TeleopPeriodic() override { m_teleopPeriodicCount++; }
|
|
|
|
void TestPeriodic() override { m_testPeriodicCount++; }
|
|
|
|
void DisabledExit() override { m_disabledExitCount++; }
|
|
|
|
void AutonomousExit() override { m_autonomousExitCount++; }
|
|
|
|
void TeleopExit() override { m_teleopExitCount++; }
|
|
|
|
void TestExit() override { m_testExitCount++; }
|
|
};
|
|
} // namespace
|
|
|
|
TEST_F(TimedRobotTest, DisabledMode) {
|
|
MockRobot robot;
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, AutonomousMode) {
|
|
MockRobot robot;
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(true);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, TeleopMode) {
|
|
MockRobot robot;
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, TestMode) {
|
|
MockRobot robot;
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(true);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(1u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(1u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_robotInitCount);
|
|
EXPECT_EQ(1u, robot.m_simulationInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(1u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(2u, robot.m_robotPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_simulationPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
|
|
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
|
|
EXPECT_EQ(2u, robot.m_testPeriodicCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, ModeChange) {
|
|
MockRobot robot;
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
// Start in disabled
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to autonomous
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(true);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(0u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to teleop
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(0u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(0u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to test
|
|
frc::sim::DriverStationSim::SetEnabled(true);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(true);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(1u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(0u, robot.m_testExitCount);
|
|
|
|
// Transition to disabled
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::SetAutonomous(false);
|
|
frc::sim::DriverStationSim::SetTest(false);
|
|
|
|
frc::sim::StepTiming(20_ms);
|
|
|
|
EXPECT_EQ(2u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousInitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopInitCount);
|
|
EXPECT_EQ(1u, robot.m_testInitCount);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledExitCount);
|
|
EXPECT_EQ(1u, robot.m_autonomousExitCount);
|
|
EXPECT_EQ(1u, robot.m_teleopExitCount);
|
|
EXPECT_EQ(1u, robot.m_testExitCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, AddPeriodic) {
|
|
MockRobot robot;
|
|
|
|
std::atomic<uint32_t> callbackCount{0};
|
|
robot.AddPeriodic([&] { callbackCount++; }, 10_ms);
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, callbackCount);
|
|
|
|
frc::sim::StepTiming(10_ms);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(1u, callbackCount);
|
|
|
|
frc::sim::StepTiming(10_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(2u, callbackCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|
|
|
|
TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
|
|
MockRobot robot;
|
|
|
|
std::atomic<uint32_t> callbackCount{0};
|
|
robot.AddPeriodic([&] { callbackCount++; }, 10_ms, 5_ms);
|
|
|
|
// Expirations in this test (ms)
|
|
//
|
|
// Robot | Callback
|
|
// ================
|
|
// 20 | 15
|
|
// 40 | 25
|
|
|
|
std::thread robotThread{[&] { robot.StartCompetition(); }};
|
|
|
|
frc::sim::DriverStationSim::SetEnabled(false);
|
|
frc::sim::DriverStationSim::NotifyNewData();
|
|
frc::sim::StepTiming(0_ms); // Wait for Notifiers
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, callbackCount);
|
|
|
|
frc::sim::StepTiming(7.5_ms);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(0u, callbackCount);
|
|
|
|
frc::sim::StepTiming(7.5_ms);
|
|
|
|
EXPECT_EQ(0u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(1u, callbackCount);
|
|
|
|
frc::sim::StepTiming(5_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(1u, callbackCount);
|
|
|
|
frc::sim::StepTiming(5_ms);
|
|
|
|
EXPECT_EQ(1u, robot.m_disabledInitCount);
|
|
EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
|
|
EXPECT_EQ(2u, callbackCount);
|
|
|
|
robot.EndCompetition();
|
|
robotThread.join();
|
|
}
|