Process LocalizerOutput messages in 2022 drivetrain
Make it so that the roborio will actually pay attention to the pi's
localizer.
Change-Id: I8db97cbba65beef8c2ec863a792e57960ead996a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/control_loops/drivetrain/localizer_test.cc b/y2022/control_loops/drivetrain/localizer_test.cc
new file mode 100644
index 0000000..87fc3fd
--- /dev/null
+++ b/y2022/control_loops/drivetrain/localizer_test.cc
@@ -0,0 +1,208 @@
+#include "y2022/control_loops/drivetrain/localizer.h"
+
+#include <queue>
+
+#include "aos/events/logging/log_writer.h"
+#include "aos/network/message_bridge_server_generated.h"
+#include "aos/network/team_number.h"
+#include "aos/network/testing_time_converter.h"
+#include "frc971/control_loops/control_loop_test.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "gtest/gtest.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(output_folder, "",
+ "If set, logs all channels to the provided logfile.");
+
+namespace y2022 {
+namespace control_loops {
+namespace drivetrain {
+namespace testing {
+
+using frc971::control_loops::drivetrain::DrivetrainConfig;
+using frc971::control_loops::drivetrain::Goal;
+using frc971::control_loops::drivetrain::LocalizerControl;
+
+namespace {
+DrivetrainConfig<double> GetTest2022DrivetrainConfig() {
+ DrivetrainConfig<double> config = GetDrivetrainConfig();
+ return config;
+}
+}
+
+namespace chrono = std::chrono;
+using aos::monotonic_clock;
+using frc971::control_loops::drivetrain::DrivetrainLoop;
+using frc971::control_loops::drivetrain::testing::DrivetrainSimulation;
+
+// TODO(james): Make it so this actually tests the full system of the localizer.
+class LocalizedDrivetrainTest : public frc971::testing::ControlLoopTest {
+ protected:
+ // We must use the 2022 drivetrain config so that we don't have to deal
+ // with shifting:
+ LocalizedDrivetrainTest()
+ : frc971::testing::ControlLoopTest(
+ aos::configuration::ReadConfig(
+ "y2022/control_loops/drivetrain/simulation_config.json"),
+ GetTest2022DrivetrainConfig().dt),
+ roborio_(aos::configuration::GetNode(configuration(), "roborio")),
+ imu_(aos::configuration::GetNode(configuration(), "imu")),
+ test_event_loop_(MakeEventLoop("test", roborio_)),
+ imu_test_event_loop_(MakeEventLoop("test", imu_)),
+ drivetrain_goal_sender_(
+ test_event_loop_->MakeSender<Goal>("/drivetrain")),
+ localizer_output_sender_(
+ imu_test_event_loop_->MakeSender<frc971::controls::LocalizerOutput>(
+ "/localizer")),
+ drivetrain_goal_fetcher_(
+ test_event_loop_->MakeFetcher<Goal>("/drivetrain")),
+ drivetrain_status_fetcher_(
+ test_event_loop_
+ ->MakeFetcher<frc971::control_loops::drivetrain::Status>(
+ "/drivetrain")),
+ localizer_control_sender_(
+ test_event_loop_->MakeSender<LocalizerControl>("/drivetrain")),
+ drivetrain_event_loop_(MakeEventLoop("drivetrain", roborio_)),
+ dt_config_(GetTest2022DrivetrainConfig()),
+ localizer_(drivetrain_event_loop_.get(), dt_config_),
+ drivetrain_(dt_config_, drivetrain_event_loop_.get(), &localizer_),
+ drivetrain_plant_event_loop_(MakeEventLoop("plant", roborio_)),
+ drivetrain_plant_imu_event_loop_(MakeEventLoop("plant", imu_)),
+ drivetrain_plant_(drivetrain_plant_event_loop_.get(),
+ drivetrain_plant_imu_event_loop_.get(), dt_config_,
+ std::chrono::microseconds(500)) {
+ set_team_id(frc971::control_loops::testing::kTeamNumber);
+ set_battery_voltage(12.0);
+
+ if (!FLAGS_output_folder.empty()) {
+ logger_event_loop_ = MakeEventLoop("logger", roborio_);
+ logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
+ logger_->StartLoggingOnRun(FLAGS_output_folder);
+ }
+
+ test_event_loop_->OnRun([this]() { SetStartingPosition({3.0, 2.0, 0.0}); });
+
+ imu_test_event_loop_
+ ->AddTimer([this]() {
+ auto builder = localizer_output_sender_.MakeBuilder();
+ frc971::controls::LocalizerOutput::Builder output_builder =
+ builder.MakeBuilder<frc971::controls::LocalizerOutput>();
+ output_builder.add_monotonic_timestamp_ns(
+ imu_test_event_loop_->monotonic_now().time_since_epoch().count());
+ output_builder.add_x(drivetrain_plant_.state()(0));
+ output_builder.add_y(drivetrain_plant_.state()(1));
+ output_builder.add_theta(drivetrain_plant_.state()(2));
+ })
+ ->Setup(imu_test_event_loop_->monotonic_now(),
+ std::chrono::milliseconds(5));
+ }
+
+ virtual ~LocalizedDrivetrainTest() override {}
+
+ void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
+ *drivetrain_plant_.mutable_state() << xytheta.x(), xytheta.y(),
+ xytheta(2, 0), 0.0, 0.0;
+ Eigen::Matrix<double, Localizer::HybridEkf::kNStates, 1> localizer_state;
+ localizer_state.setZero();
+ localizer_state.block<3, 1>(0, 0) = xytheta;
+ localizer_.Reset(monotonic_now(), localizer_state);
+ }
+
+ void VerifyNearGoal(double eps = 1e-2) {
+ drivetrain_goal_fetcher_.Fetch();
+ EXPECT_NEAR(drivetrain_goal_fetcher_->left_goal(),
+ drivetrain_plant_.GetLeftPosition(), eps);
+ EXPECT_NEAR(drivetrain_goal_fetcher_->right_goal(),
+ drivetrain_plant_.GetRightPosition(), eps);
+ }
+
+ ::testing::AssertionResult IsNear(double expected, double actual,
+ double epsilon) {
+ if (std::abs(expected - actual) < epsilon) {
+ return ::testing::AssertionSuccess();
+ } else {
+ return ::testing::AssertionFailure()
+ << "Expected " << expected << " but got " << actual
+ << " with a max difference of " << epsilon
+ << " and an actual difference of " << std::abs(expected - actual);
+ }
+ }
+ ::testing::AssertionResult VerifyEstimatorAccurate(double eps) {
+ const Eigen::Matrix<double, 5, 1> true_state = drivetrain_plant_.state();
+ ::testing::AssertionResult result(true);
+ if (!(result = IsNear(localizer_.x(), true_state(0), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.y(), true_state(1), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.theta(), true_state(2), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.left_velocity(), true_state(3), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.right_velocity(), true_state(4), eps))) {
+ return result;
+ }
+ return result;
+ }
+
+ const aos::Node *const roborio_;
+ const aos::Node *const imu_;
+
+ std::unique_ptr<aos::EventLoop> test_event_loop_;
+ std::unique_ptr<aos::EventLoop> imu_test_event_loop_;
+ aos::Sender<Goal> drivetrain_goal_sender_;
+ aos::Sender<frc971::controls::LocalizerOutput> localizer_output_sender_;
+ aos::Fetcher<Goal> drivetrain_goal_fetcher_;
+ aos::Fetcher<frc971::control_loops::drivetrain::Status>
+ drivetrain_status_fetcher_;
+ aos::Sender<LocalizerControl> localizer_control_sender_;
+
+ std::unique_ptr<aos::EventLoop> drivetrain_event_loop_;
+ const frc971::control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+
+ Localizer localizer_;
+ DrivetrainLoop drivetrain_;
+
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_event_loop_;
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_imu_event_loop_;
+ DrivetrainSimulation drivetrain_plant_;
+
+ void SendGoal(double left, double right) {
+ auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+ Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+ drivetrain_builder.add_controller_type(
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
+ drivetrain_builder.add_left_goal(left);
+ drivetrain_builder.add_right_goal(right);
+
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
+ }
+
+ private:
+ std::unique_ptr<aos::EventLoop> logger_event_loop_;
+ std::unique_ptr<aos::logger::Logger> logger_;
+};
+
+TEST_F(LocalizedDrivetrainTest, Nominal) {
+ SetEnabled(true);
+ EXPECT_TRUE(VerifyEstimatorAccurate(1e-7));
+
+ SendGoal(-1.0, 1.0);
+
+ RunFor(chrono::seconds(10));
+ VerifyNearGoal();
+ EXPECT_TRUE(VerifyEstimatorAccurate(5e-3));
+}
+
+} // namespace testing
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2022