Added hood tests to superstructure.
Probably needs more tests, not sure what yet.
Change-Id: I72689d9b738a3349b8a9aa33a98687d85c5c20f6
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index 533a369..88d574d 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -76,3 +76,29 @@
"//aos/events:shm_event_loop",
],
)
+
+cc_test(
+ name = "superstructure_lib_test",
+ srcs = [
+ "superstructure_lib_test.cc",
+ ],
+ data = [
+ "//y2020:config.json",
+ ],
+ deps = [
+ ":superstructure_goal_fbs",
+ ":superstructure_lib",
+ ":superstructure_output_fbs",
+ ":superstructure_position_fbs",
+ ":superstructure_status_fbs",
+ "//aos:math",
+ "//aos/controls:control_loop_test",
+ "//aos/testing:googletest",
+ "//aos/time",
+ "//frc971/control_loops:capped_test_plant",
+ "//frc971/control_loops:position_sensor_sim",
+ "//frc971/control_loops:team_number_test_environment",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//y2020/control_loops/superstructure/hood:hood_plants",
+ ],
+)
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
new file mode 100644
index 0000000..468e0c9
--- /dev/null
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -0,0 +1,349 @@
+#include <unistd.h>
+
+#include <chrono>
+#include <memory>
+
+#include "aos/controls/control_loop_test.h"
+#include "frc971/control_loops/capped_test_plant.h"
+#include "frc971/control_loops/position_sensor_sim.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+#include "gtest/gtest.h"
+#include "y2020/constants.h"
+#include "y2020/control_loops/superstructure/hood/hood_plant.h"
+#include "y2020/control_loops/superstructure/superstructure.h"
+
+namespace y2020 {
+namespace control_loops {
+namespace superstructure {
+namespace testing {
+
+namespace {
+constexpr double kNoiseScalar = 0.01;
+} // namespace
+
+namespace chrono = ::std::chrono;
+using ::aos::monotonic_clock;
+using ::frc971::CreateProfileParameters;
+using ::frc971::control_loops::CappedTestPlant;
+using ::frc971::control_loops::
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
+using ::frc971::control_loops::PositionSensorSimulator;
+using ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+typedef Superstructure::AbsoluteEncoderSubsystem AbsoluteEncoderSubsystem;
+
+// Class which simulates the superstructure and sends out queue messages with
+// the position.
+class SuperstructureSimulation {
+ public:
+ SuperstructureSimulation(::aos::EventLoop *event_loop, chrono::nanoseconds dt)
+ : event_loop_(event_loop),
+ dt_(dt),
+ superstructure_position_sender_(
+ event_loop_->MakeSender<Position>("/superstructure")),
+ superstructure_status_fetcher_(
+ event_loop_->MakeFetcher<Status>("/superstructure")),
+ superstructure_output_fetcher_(
+ event_loop_->MakeFetcher<Output>("/superstructure")),
+
+ hood_plant_(new CappedTestPlant(hood::MakeHoodPlant())),
+ hood_encoder_(constants::GetValues()
+ .hood.zeroing_constants.one_revolution_distance) {
+ InitializeHoodPosition(constants::Values::kHoodRange().upper);
+
+ phased_loop_handle_ = event_loop_->AddPhasedLoop(
+ [this](int) {
+ // Skip this the first time.
+ if (!first_) {
+ Simulate();
+ }
+ first_ = false;
+ SendPositionMessage();
+ },
+ dt);
+ }
+
+ void InitializeHoodPosition(double start_pos) {
+ hood_plant_->mutable_X(0, 0) = start_pos;
+ hood_plant_->mutable_X(1, 0) = 0.0;
+
+ hood_encoder_.Initialize(
+ start_pos, kNoiseScalar, 0.0,
+ constants::GetValues()
+ .hood.zeroing_constants.measured_absolute_position);
+ }
+
+ // Sends a queue message with the position of the superstructure.
+ void SendPositionMessage() {
+ ::aos::Sender<Position>::Builder builder =
+ superstructure_position_sender_.MakeBuilder();
+
+ frc971::AbsolutePosition::Builder hood_builder =
+ builder.MakeBuilder<frc971::AbsolutePosition>();
+ flatbuffers::Offset<frc971::AbsolutePosition> hood_offset =
+ hood_encoder_.GetSensorValues(&hood_builder);
+
+ Position::Builder position_builder = builder.MakeBuilder<Position>();
+
+ position_builder.add_hood(hood_offset);
+
+ builder.Send(position_builder.Finish());
+ }
+
+ double hood_position() const { return hood_plant_->X(0, 0); }
+ double hood_velocity() const { return hood_plant_->X(1, 0); }
+
+ // Simulates the superstructure for a single timestep.
+ void Simulate() {
+ const double last_hood_velocity = hood_velocity();
+
+ EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
+ EXPECT_TRUE(superstructure_status_fetcher_.Fetch());
+
+ const double voltage_check_hood =
+ (static_cast<AbsoluteEncoderSubsystem::State>(
+ superstructure_status_fetcher_->hood()->state()) ==
+ AbsoluteEncoderSubsystem::State::RUNNING)
+ ? constants::GetValues().hood.operating_voltage
+ : constants::GetValues().hood.zeroing_voltage;
+
+ EXPECT_NEAR(superstructure_output_fetcher_->hood_voltage(), 0.0,
+ voltage_check_hood);
+
+ ::Eigen::Matrix<double, 1, 1> hood_U;
+ hood_U << superstructure_output_fetcher_->hood_voltage() +
+ hood_plant_->voltage_offset();
+
+ hood_plant_->Update(hood_U);
+
+ const double position_hood = hood_plant_->Y(0, 0);
+
+ hood_encoder_.MoveTo(position_hood);
+
+ EXPECT_GE(position_hood, constants::Values::kHoodRange().lower_hard);
+ EXPECT_LE(position_hood, constants::Values::kHoodRange().upper_hard);
+
+ const double loop_time = ::aos::time::DurationInSeconds(dt_);
+
+ const double hood_acceleration =
+ (hood_velocity() - last_hood_velocity) / loop_time;
+
+ EXPECT_GE(peak_hood_acceleration_, hood_acceleration);
+ EXPECT_LE(-peak_hood_acceleration_, hood_acceleration);
+ EXPECT_GE(peak_hood_velocity_, hood_velocity());
+ EXPECT_LE(-peak_hood_velocity_, hood_velocity());
+ }
+
+ void set_peak_hood_acceleration(double value) {
+ peak_hood_acceleration_ = value;
+ }
+ void set_peak_hood_velocity(double value) { peak_hood_velocity_ = value; }
+
+ private:
+ ::aos::EventLoop *event_loop_;
+ const chrono::nanoseconds dt_;
+ ::aos::PhasedLoopHandler *phased_loop_handle_ = nullptr;
+
+ ::aos::Sender<Position> superstructure_position_sender_;
+ ::aos::Fetcher<Status> superstructure_status_fetcher_;
+ ::aos::Fetcher<Output> superstructure_output_fetcher_;
+
+ bool first_ = true;
+
+ ::std::unique_ptr<CappedTestPlant> hood_plant_;
+ PositionSensorSimulator hood_encoder_;
+
+ // The acceleration limits to check for while moving.
+ double peak_hood_acceleration_ = 1e10;
+
+ // The velocity limits to check for while moving.
+ double peak_hood_velocity_ = 1e10;
+};
+
+class SuperstructureTest : public ::aos::testing::ControlLoopTest {
+ protected:
+ SuperstructureTest()
+ : ::aos::testing::ControlLoopTest(
+ aos::configuration::ReadConfig("y2020/config.json"),
+ chrono::microseconds(5050)),
+ test_event_loop_(MakeEventLoop("test")),
+ superstructure_goal_fetcher_(
+ test_event_loop_->MakeFetcher<Goal>("/superstructure")),
+ superstructure_goal_sender_(
+ test_event_loop_->MakeSender<Goal>("/superstructure")),
+ superstructure_status_fetcher_(
+ test_event_loop_->MakeFetcher<Status>("/superstructure")),
+ superstructure_output_fetcher_(
+ test_event_loop_->MakeFetcher<Output>("/superstructure")),
+ superstructure_position_fetcher_(
+ test_event_loop_->MakeFetcher<Position>("/superstructure")),
+ superstructure_event_loop_(MakeEventLoop("superstructure")),
+ superstructure_(superstructure_event_loop_.get()),
+ superstructure_plant_event_loop_(MakeEventLoop("plant")),
+ superstructure_plant_(superstructure_plant_event_loop_.get(), dt()) {
+ set_team_id(::frc971::control_loops::testing::kTeamNumber);
+ }
+
+ void VerifyNearGoal() {
+ superstructure_goal_fetcher_.Fetch();
+ superstructure_status_fetcher_.Fetch();
+
+ EXPECT_NEAR(superstructure_goal_fetcher_->hood()->unsafe_goal(),
+ superstructure_status_fetcher_->hood()->position(), 0.001);
+ }
+
+ void CheckIfZeroed() {
+ superstructure_status_fetcher_.Fetch();
+ ASSERT_TRUE(superstructure_status_fetcher_.get()->zeroed());
+ }
+
+ void WaitUntilZeroed() {
+ int i = 0;
+ do {
+ i++;
+ RunFor(dt());
+ superstructure_status_fetcher_.Fetch();
+ // 2 Seconds
+ ASSERT_LE(i, 2.0 / ::aos::time::DurationInSeconds(dt()));
+
+ // Since there is a delay when sending running, make sure we have a status
+ // before checking it.
+ } while (superstructure_status_fetcher_.get() == nullptr ||
+ !superstructure_status_fetcher_.get()->zeroed());
+ }
+
+ ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
+
+ ::aos::Fetcher<Goal> superstructure_goal_fetcher_;
+ ::aos::Sender<Goal> superstructure_goal_sender_;
+ ::aos::Fetcher<Status> superstructure_status_fetcher_;
+ ::aos::Fetcher<Output> superstructure_output_fetcher_;
+ ::aos::Fetcher<Position> superstructure_position_fetcher_;
+
+ // Create a control loop and simulation.
+ ::std::unique_ptr<::aos::EventLoop> superstructure_event_loop_;
+ Superstructure superstructure_;
+
+ ::std::unique_ptr<::aos::EventLoop> superstructure_plant_event_loop_;
+ SuperstructureSimulation superstructure_plant_;
+};
+
+// Tests that the superstructure does nothing when the goal is to remain still.
+TEST_F(SuperstructureTest, DoesNothing) {
+ SetEnabled(true);
+ superstructure_plant_.InitializeHoodPosition(0.77);
+
+ WaitUntilZeroed();
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ hood_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), 0.77);
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+ goal_builder.add_hood(hood_offset);
+
+ ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ }
+ RunFor(chrono::seconds(10));
+ VerifyNearGoal();
+
+ EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
+}
+
+// Tests that loops can reach a goal.
+TEST_F(SuperstructureTest, ReachesGoal) {
+ SetEnabled(true);
+ // Set a reasonable goal.
+
+ superstructure_plant_.InitializeHoodPosition(0.7);
+
+ WaitUntilZeroed();
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ hood_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), 0.2,
+ CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+ goal_builder.add_hood(hood_offset);
+
+ ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ }
+
+ // Give it a lot of time to get there.
+ RunFor(chrono::seconds(8));
+
+ VerifyNearGoal();
+}
+// Makes sure that the voltage on a motor is properly pulled back after
+// saturation such that we don't get weird or bad (e.g. oscillating) behaviour.
+//
+// We are going to disable collision detection to make this easier to implement.
+TEST_F(SuperstructureTest, SaturationTest) {
+ SetEnabled(true);
+ // Zero it before we move.
+ WaitUntilZeroed();
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ hood_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), constants::Values::kHoodRange().upper);
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+ goal_builder.add_hood(hood_offset);
+
+ ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ }
+ RunFor(chrono::seconds(8));
+ VerifyNearGoal();
+
+ // Try a low acceleration move with a high max velocity and verify the
+ // acceleration is capped like expected.
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ hood_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), constants::Values::kHoodRange().lower,
+ CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+ goal_builder.add_hood(hood_offset);
+
+ ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ }
+ superstructure_plant_.set_peak_hood_velocity(23.0);
+ superstructure_plant_.set_peak_hood_acceleration(0.2);
+
+ RunFor(chrono::seconds(8));
+ VerifyNearGoal();
+}
+
+// Tests that the loop zeroes when run for a while without a goal.
+TEST_F(SuperstructureTest, ZeroNoGoal) {
+ SetEnabled(true);
+ WaitUntilZeroed();
+ RunFor(chrono::seconds(2));
+ EXPECT_EQ(AbsoluteEncoderSubsystem::State::RUNNING,
+ superstructure_.hood().state());
+}
+
+// Tests that running disabled works
+TEST_F(SuperstructureTest, DisableTest) {
+ RunFor(chrono::seconds(2));
+ CheckIfZeroed();
+}
+
+} // namespace testing
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2020