commit a4782512ae742279143f8fb428a064f6df051ec1
author milind-u <milind.upadhyay@gmail.com> Sat Oct 09 14:38:01 2021 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sat Oct 09 14:49:27 2021 -0700
tree b11d2f4c1c73f9c1723d70674a21524b851e8aa1
parent dfd4e23ef5f9a22137f64ee56e0e3b89d76d2e19

Fix superstructure replay balls shot test

Since we modified the interpolation table to have the finisher only
shoot at 350 rad/s, if we replay the log with auto tracking it will give
us a different finisher goal from before when we ran this on the robot,
so the goal will not match the actual velocity.

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ic07d90a1faea54b60b1b995d582832f113b5f972

y2020/control_loops/superstructure/superstructure_lib_test.cc

diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index eb5bf74..757e19a 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -1075,10 +1075,16 @@
     test_event_loop_ = reader_.event_loop_factory()->MakeEventLoop(
         "superstructure_replay_test", roborio_);
 
-    status_fetcher_ =
-        test_event_loop_
-            ->MakeFetcher<y2020::control_loops::superstructure::Status>(
-                "/superstructure");
+    status_fetcher_ = test_event_loop_->MakeFetcher<Status>("/superstructure");
+    goal_sender_ = test_event_loop_->MakeSender<Goal>("/superstructure");
+
+    if (!FLAGS_output_file.empty()) {
+      unlink(FLAGS_output_file.c_str());
+      logger_event_loop_ =
+          reader_.event_loop_factory()->MakeEventLoop("logger", roborio_);
+      logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
+      logger_->StartLoggingOnRun(FLAGS_output_file);
+    }
   }
 
   const aos::FlatbufferDetachedBuffer<aos::Configuration> config_;
@@ -1088,14 +1094,31 @@
   std::unique_ptr<aos::EventLoop> superstructure_event_loop_;
   std::unique_ptr<aos::EventLoop> test_event_loop_;
 
+  std::unique_ptr<aos::EventLoop> logger_event_loop_;
+  std::unique_ptr<aos::logger::Logger> logger_;
+
+  aos::Sender<y2020::control_loops::superstructure::Goal> goal_sender_;
   aos::Fetcher<y2020::control_loops::superstructure::Status> status_fetcher_;
 };
 
-// Tests that balls_shot is updated correctly with a real log
-// that had target tracking constantly changing the finisher goal by small
-// amounts.
-TEST_F(SuperstructureReplayTest, BallsShotWithTargetTracking) {
+// Tests that balls_shot is updated correctly with a real log.
+TEST_F(SuperstructureReplayTest, BallsShotReplay) {
   Superstructure superstructure(superstructure_event_loop_.get());
+  // TODO(milind): remove this after the new log is uploaded
+  test_event_loop_->AddPhasedLoop(
+      [&](int) {
+        auto builder = goal_sender_.MakeBuilder();
+        auto shooter_goal_builder = builder.MakeBuilder<ShooterGoal>();
+        shooter_goal_builder.add_velocity_finisher(304);
+        const auto shooter_goal_offset = shooter_goal_builder.Finish();
+
+        auto goal_builder = builder.MakeBuilder<Goal>();
+        goal_builder.add_shooter(shooter_goal_offset);
+        goal_builder.add_shooter_tracking(false);
+        builder.Send(goal_builder.Finish());
+      },
+      frc971::controls::kLoopFrequency);
+
   reader_.event_loop_factory()->Run();
 
   ASSERT_TRUE(status_fetcher_.Fetch());