Adding a simple codelab. Hopefully this can be useful in training.
Change-Id: I3bab489d66969e78fd527c7f8f4361228bb20be9
diff --git a/frc971/codelab/basic_test.cc b/frc971/codelab/basic_test.cc
new file mode 100644
index 0000000..0acf9e7
--- /dev/null
+++ b/frc971/codelab/basic_test.cc
@@ -0,0 +1,170 @@
+#include "frc971/codelab/basic.h"
+
+#include <unistd.h>
+
+#include <chrono>
+#include <memory>
+
+#include "aos/common/controls/control_loop_test.h"
+#include "aos/common/queue.h"
+#include "frc971/codelab/basic.q.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace codelab {
+namespace testing {
+
+// Class which simulates stuff and sends out queue messages with the
+// position.
+class BasicSimulation {
+ public:
+ BasicSimulation()
+ : basic_queue_(".frc971.codelab.basic_queue", 0x78d8e372,
+ ".frc971.codelab.basic_queue.goal",
+ ".frc971.codelab.basic_queue.position",
+ ".frc971.codelab.basic_queue.output",
+ ".frc971.codelab.basic_queue.status") {}
+
+ // Sends a queue message with the position data.
+ void SendPositionMessage() {
+ ::aos::ScopedMessagePtr<BasicQueue::Position> position =
+ basic_queue_.position.MakeMessage();
+
+ position->limit_sensor = limit_sensor_;
+
+ position.Send();
+ }
+
+ void VerifyResults(double voltage, bool status) {
+ basic_queue_.output.FetchLatest();
+ basic_queue_.status.FetchLatest();
+
+ ASSERT_TRUE(basic_queue_.output.get() != nullptr);
+ ASSERT_TRUE(basic_queue_.status.get() != nullptr);
+
+ EXPECT_EQ(basic_queue_.output->intake_voltage, voltage);
+ EXPECT_EQ(basic_queue_.status->intake_complete, status);
+ }
+
+ void set_limit_sensor(bool value) { limit_sensor_ = value; }
+
+ // Simulates basic control loop for a single timestep.
+ void Simulate() { EXPECT_TRUE(basic_queue_.output.FetchLatest()); }
+
+ private:
+ BasicQueue basic_queue_;
+ bool limit_sensor_ = false;
+};
+
+class BasicControlLoopTest : public ::aos::testing::ControlLoopTest {
+ public:
+ BasicControlLoopTest()
+ : basic_queue_(".frc971.codelab.basic_queue", 0x78d8e372,
+ ".frc971.codelab.basic_queue.goal",
+ ".frc971.codelab.basic_queue.position",
+ ".frc971.codelab.basic_queue.output",
+ ".frc971.codelab.basic_queue.status"),
+ basic_loop_(&basic_queue_) {
+ set_team_id(control_loops::testing::kTeamNumber);
+ }
+
+ // Runs one iteration of the whole simulation.
+ void RunIteration(bool enabled = true) {
+ SendMessages(enabled);
+
+ basic_simulation_.SendPositionMessage();
+ basic_loop_.Iterate();
+ basic_simulation_.Simulate();
+
+ TickTime();
+ }
+
+ BasicQueue basic_queue_;
+ Basic basic_loop_;
+ BasicSimulation basic_simulation_;
+};
+
+// Tests that when the motor has finished intaking it stops.
+TEST_F(BasicControlLoopTest, IntakeLimitTransitionsToTrue) {
+ ASSERT_TRUE(basic_queue_.goal.MakeWithBuilder().intake(true).Send());
+ basic_simulation_.set_limit_sensor(false);
+
+ RunIteration();
+
+ basic_simulation_.VerifyResults(12.0, false);
+
+ ASSERT_TRUE(basic_queue_.goal.MakeWithBuilder().intake(true).Send());
+ basic_simulation_.set_limit_sensor(true);
+
+ RunIteration();
+
+ basic_simulation_.VerifyResults(0.0, true);
+}
+
+// Tests that the intake goes on if the sensor is not pressed
+// and intake is requested.
+TEST_F(BasicControlLoopTest, IntakeLimitNotSet) {
+ ASSERT_TRUE(basic_queue_.goal.MakeWithBuilder().intake(true).Send());
+ basic_simulation_.set_limit_sensor(false);
+
+ RunIteration();
+
+ basic_simulation_.VerifyResults(12.0, false);
+}
+
+// Tests that the intake is off if no intake is requested,
+// even if the limit sensor is off.
+TEST_F(BasicControlLoopTest, NoIntakeLimitNotSet) {
+ ASSERT_TRUE(basic_queue_.goal.MakeWithBuilder().intake(false).Send());
+ basic_simulation_.set_limit_sensor(false);
+
+ RunIteration();
+
+ basic_simulation_.VerifyResults(0.0, false);
+}
+
+// Tests that the intake is off even if the limit sensor
+// is pressed and intake is requested.
+TEST_F(BasicControlLoopTest, IntakeLimitSet) {
+ ASSERT_TRUE(basic_queue_.goal.MakeWithBuilder().intake(true).Send());
+ basic_simulation_.set_limit_sensor(true);
+
+ RunIteration();
+
+ basic_simulation_.VerifyResults(0.0, true);
+}
+
+// Tests that the intake is off if no intake is requested,
+TEST_F(BasicControlLoopTest, NoIntakeLimitSet) {
+ ASSERT_TRUE(basic_queue_.goal.MakeWithBuilder().intake(false).Send());
+ basic_simulation_.set_limit_sensor(true);
+
+ RunIteration();
+
+ basic_simulation_.VerifyResults(0.0, false);
+}
+
+// Tests that the control loop handles things properly if no goal is set.
+TEST_F(BasicControlLoopTest, NoGoalSet) {
+ basic_simulation_.set_limit_sensor(true);
+
+ RunIteration();
+
+ basic_simulation_.VerifyResults(0.0, false);
+}
+
+// Tests that the control loop handles things properly if disabled.
+TEST_F(BasicControlLoopTest, Disabled) {
+ basic_simulation_.set_limit_sensor(true);
+
+ ASSERT_TRUE(basic_queue_.goal.MakeWithBuilder().intake(true).Send());
+
+ RunIteration(false);
+
+ basic_simulation_.VerifyResults(0.0, false);
+}
+
+} // namespace testing
+} // namespace codelab
+} // namespace frc971