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124 lines
3.5 KiB
C++
124 lines
3.5 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 <memory>
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#include <gtest/gtest.h>
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#include <units/time.h>
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#include "TestBench.h"
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#include "frc/AnalogInput.h"
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#include "frc/AnalogOutput.h"
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#include "frc/AnalogTrigger.h"
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#include "frc/AsynchronousInterrupt.h"
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#include "frc/Counter.h"
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#include "frc/Timer.h"
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static constexpr auto kDelayTime = 10_ms;
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/**
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* Test analog inputs and outputs by setting one and making sure the other
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* matches.
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*/
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TEST(AnalogLoopTest, AnalogInputWorks) {
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frc::AnalogInput input{TestBench::kFakeAnalogOutputChannel};
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frc::AnalogOutput output{TestBench::kAnalogOutputChannel};
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// Set the output voltage and check if the input measures the same voltage
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for (int32_t i = 0; i < 50; i++) {
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output.SetVoltage(i / 10.0);
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frc::Wait(kDelayTime);
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EXPECT_NEAR(output.GetVoltage(), input.GetVoltage(), 0.01);
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}
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}
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/**
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* Test if we can use an analog trigger to check if the output is within a
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* range correctly.
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*/
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TEST(AnalogLoopTest, AnalogTriggerWorks) {
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frc::AnalogInput input{TestBench::kFakeAnalogOutputChannel};
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frc::AnalogOutput output{TestBench::kAnalogOutputChannel};
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frc::AnalogTrigger trigger{&input};
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trigger.SetLimitsVoltage(2.0, 3.0);
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output.SetVoltage(1.0);
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frc::Wait(kDelayTime);
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EXPECT_FALSE(trigger.GetInWindow())
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<< "Analog trigger is in the window (2V, 3V)";
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EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
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output.SetVoltage(2.5);
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frc::Wait(kDelayTime);
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EXPECT_TRUE(trigger.GetInWindow())
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<< "Analog trigger is not in the window (2V, 3V)";
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EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
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output.SetVoltage(4.0);
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frc::Wait(kDelayTime);
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EXPECT_FALSE(trigger.GetInWindow())
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<< "Analog trigger is in the window (2V, 3V)";
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EXPECT_TRUE(trigger.GetTriggerState()) << "Analog trigger is not on";
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}
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/**
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* Test if we can count the right number of ticks from an analog trigger with
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* a counter.
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*/
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TEST(AnalogLoopTest, AnalogTriggerCounterWorks) {
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frc::AnalogInput input{TestBench::kFakeAnalogOutputChannel};
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frc::AnalogOutput output{TestBench::kAnalogOutputChannel};
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frc::AnalogTrigger trigger{&input};
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trigger.SetLimitsVoltage(2.0, 3.0);
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frc::Counter counter{trigger};
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// Turn the analog output low and high 50 times
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for (int32_t i = 0; i < 50; i++) {
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output.SetVoltage(1.0);
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frc::Wait(kDelayTime);
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output.SetVoltage(4.0);
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frc::Wait(kDelayTime);
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}
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// The counter should be 50
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EXPECT_EQ(50, counter.Get())
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<< "Analog trigger counter did not count 50 ticks";
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}
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TEST(AnalogLoopTest, AsynchronusInterruptWorks) {
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frc::AnalogInput input{TestBench::kFakeAnalogOutputChannel};
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frc::AnalogOutput output{TestBench::kAnalogOutputChannel};
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int32_t param = 0;
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frc::AnalogTrigger trigger{&input};
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trigger.SetLimitsVoltage(2.0, 3.0);
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// Given an interrupt handler that sets an int32_t to 12345
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std::shared_ptr<frc::AnalogTriggerOutput> triggerOutput =
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trigger.CreateOutput(frc::AnalogTriggerType::kState);
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frc::AsynchronousInterrupt interrupt{triggerOutput,
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[&](auto a, auto b) { param = 12345; }};
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interrupt.Enable();
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// If the analog output moves from below to above the window
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output.SetVoltage(0.0);
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frc::Wait(kDelayTime);
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output.SetVoltage(5.0);
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// Then the int32_t should be 12345
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frc::Wait(kDelayTime);
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interrupt.Disable();
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EXPECT_EQ(12345, param) << "The interrupt did not run.";
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}
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