mirror of
https://github.com/wpilibsuite/allwpilib
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e09293a15e
A lot of these are breaking changes. frc::Timer was replaced with the contents of frc2::Timer. The others were in-place argument changes or removing deprecated non-unit overloads.
154 lines
3.8 KiB
C++
154 lines
3.8 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 "frc/Watchdog.h" // NOLINT(build/include_order)
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#include <stdint.h>
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#include "frc/simulation/SimHooks.h"
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#include "gtest/gtest.h"
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using namespace frc;
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namespace {
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class WatchdogTest : 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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} // namespace
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TEST_F(WatchdogTest, EnableDisable) {
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uint32_t watchdogCounter = 0;
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Watchdog watchdog(0.4_s, [&] { watchdogCounter++; });
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// Run 1
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watchdog.Enable();
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frc::sim::StepTiming(0.2_s);
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watchdog.Disable();
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EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
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// Run 2
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watchdogCounter = 0;
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watchdog.Enable();
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frc::sim::StepTiming(0.4_s);
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watchdog.Disable();
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EXPECT_EQ(1u, watchdogCounter)
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<< "Watchdog either didn't trigger or triggered more than once";
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// Run 3
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watchdogCounter = 0;
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watchdog.Enable();
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frc::sim::StepTiming(1_s);
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watchdog.Disable();
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EXPECT_EQ(1u, watchdogCounter)
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<< "Watchdog either didn't trigger or triggered more than once";
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}
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TEST_F(WatchdogTest, Reset) {
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uint32_t watchdogCounter = 0;
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Watchdog watchdog(0.4_s, [&] { watchdogCounter++; });
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watchdog.Enable();
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frc::sim::StepTiming(0.2_s);
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watchdog.Reset();
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frc::sim::StepTiming(0.2_s);
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watchdog.Disable();
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EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
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}
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TEST_F(WatchdogTest, SetTimeout) {
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uint32_t watchdogCounter = 0;
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Watchdog watchdog(1_s, [&] { watchdogCounter++; });
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watchdog.Enable();
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frc::sim::StepTiming(0.2_s);
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watchdog.SetTimeout(0.2_s);
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EXPECT_EQ(0.2_s, watchdog.GetTimeout());
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EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
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frc::sim::StepTiming(0.3_s);
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watchdog.Disable();
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EXPECT_EQ(1u, watchdogCounter)
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<< "Watchdog either didn't trigger or triggered more than once";
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}
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TEST_F(WatchdogTest, IsExpired) {
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Watchdog watchdog(0.2_s, [] {});
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EXPECT_FALSE(watchdog.IsExpired());
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watchdog.Enable();
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EXPECT_FALSE(watchdog.IsExpired());
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frc::sim::StepTiming(0.3_s);
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EXPECT_TRUE(watchdog.IsExpired());
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watchdog.Disable();
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EXPECT_TRUE(watchdog.IsExpired());
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watchdog.Reset();
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EXPECT_FALSE(watchdog.IsExpired());
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}
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TEST_F(WatchdogTest, Epochs) {
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uint32_t watchdogCounter = 0;
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Watchdog watchdog(0.4_s, [&] { watchdogCounter++; });
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// Run 1
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watchdog.Enable();
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watchdog.AddEpoch("Epoch 1");
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frc::sim::StepTiming(0.1_s);
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watchdog.AddEpoch("Epoch 2");
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frc::sim::StepTiming(0.1_s);
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watchdog.AddEpoch("Epoch 3");
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watchdog.Disable();
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EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
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// Run 2
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watchdog.Enable();
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watchdog.AddEpoch("Epoch 1");
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frc::sim::StepTiming(0.2_s);
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watchdog.Reset();
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frc::sim::StepTiming(0.2_s);
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watchdog.AddEpoch("Epoch 2");
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watchdog.Disable();
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EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
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}
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TEST_F(WatchdogTest, MultiWatchdog) {
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uint32_t watchdogCounter1 = 0;
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uint32_t watchdogCounter2 = 0;
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Watchdog watchdog1(0.2_s, [&] { watchdogCounter1++; });
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Watchdog watchdog2(0.6_s, [&] { watchdogCounter2++; });
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watchdog2.Enable();
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frc::sim::StepTiming(0.25_s);
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EXPECT_EQ(0u, watchdogCounter1) << "Watchdog triggered early";
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EXPECT_EQ(0u, watchdogCounter2) << "Watchdog triggered early";
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// Sleep enough such that only the watchdog enabled later times out first
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watchdog1.Enable();
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frc::sim::StepTiming(0.25_s);
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watchdog1.Disable();
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watchdog2.Disable();
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EXPECT_EQ(1u, watchdogCounter1)
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<< "Watchdog either didn't trigger or triggered more than once";
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EXPECT_EQ(0u, watchdogCounter2) << "Watchdog triggered early";
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}
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