make the claw and fridge tests use standard infrastructure
Change-Id: I65cbc5e665ecb8099abf41e2503c2b0e80ad3f88
diff --git a/aos/common/controls/control_loop_test.cc b/aos/common/controls/control_loop_test.cc
index ab47477..a8deecf 100644
--- a/aos/common/controls/control_loop_test.cc
+++ b/aos/common/controls/control_loop_test.cc
@@ -7,6 +7,9 @@
namespace aos {
namespace testing {
+constexpr ::aos::time::Time ControlLoopTest::kTimeTick;
+constexpr ::aos::time::Time ControlLoopTest::kDSPacketTime;
+
ControlLoopTest::ControlLoopTest() {
::aos::robot_state.Clear();
::aos::controls::sensor_generation.Clear();
@@ -29,17 +32,15 @@
::aos::time::Time::DisableMockTime();
}
-void ControlLoopTest::SimulateTimestep(bool enabled) {
- if (sent_robot_state_last_time_) {
- sent_robot_state_last_time_ = false;
- } else {
+void ControlLoopTest::SendMessages(bool enabled) {
+ if (current_time_ - last_ds_time_ >= kDSPacketTime) {
::aos::robot_state.MakeWithBuilder()
.enabled(enabled)
.autonomous(false)
.fake(true)
.team_id(971)
.Send();
- sent_robot_state_last_time_ = true;
+ last_ds_time_ = current_time_;
}
if (enabled) {
// TODO(brians): Actually make this realistic once we figure out what that
@@ -49,8 +50,6 @@
.pulse_length(0)
.Send();
}
- ::aos::time::Time::SetMockTime(current_time_ +=
- ::aos::time::Time::InMS(10.0));
}
} // namespace testing
diff --git a/aos/common/controls/control_loop_test.h b/aos/common/controls/control_loop_test.h
index de048ba..76c68d3 100644
--- a/aos/common/controls/control_loop_test.h
+++ b/aos/common/controls/control_loop_test.h
@@ -17,14 +17,27 @@
class ControlLoopTest : public ::testing::Test {
public:
ControlLoopTest();
-
virtual ~ControlLoopTest();
- // Simulates everything that happens during 1 time step.
- void SimulateTimestep(bool enabled);
+ // Sends out all of the required queue messages.
+ void SendMessages(bool enabled);
+ // Ticks time for a single control loop cycle.
+ void TickTime() {
+ ::aos::time::Time::SetMockTime(current_time_ += kTimeTick);
+ }
+
+ // Simulates everything that happens during 1 loop time step.
+ void SimulateTimestep(bool enabled) {
+ SendMessages(enabled);
+ TickTime();
+ }
private:
- bool sent_robot_state_last_time_ = false;
+ static constexpr ::aos::time::Time kTimeTick = ::aos::time::Time::InUS(10000);
+ static constexpr ::aos::time::Time kDSPacketTime =
+ ::aos::time::Time::InMS(20);
+
+ ::aos::time::Time last_ds_time_ = ::aos::time::Time::InSeconds(0);
::aos::time::Time current_time_ = ::aos::time::Time::InSeconds(0);
::aos::common::testing::GlobalCoreInstance my_core;