public void TestDisableStopsInterruptFiring()
{
InterruptCounter counter = new InterruptCounter();
TestHandlerFunction function = new TestHandlerFunction(counter);
GetInterruptable().RequestInterrupts(function.Fired, counter);
GetInterruptable().EnableInterrupts();
int fireCount = 50;
for (int i = 0; i < fireCount; i++)
{
SetInterruptLow();
SetInterruptHigh();
while (function.InterruptComplete == 0)
{
Thread.Yield();
}
function.InterruptComplete = 0;
}
GetInterruptable().DisableInterrupts();
for (int i = 0; i < fireCount; i++)
{
SetInterruptLow();
SetInterruptHigh();
Thread.Yield();
}
Assert.AreEqual(fireCount, counter.GetCount(), "The interrupt did not fire the expected number of times");
}
public void TestSingleInterruptsTriggering()
{
InterruptCounter counter = new InterruptCounter();
TestHandlerFunction function = new TestHandlerFunction(counter);
GetInterruptable().RequestInterrupts(function.Fired, counter);
GetInterruptable().EnableInterrupts();
SetInterruptLow();
Delay(0.01);
long interruptTriggerTime = (long)Utility.GetFPGATime();
SetInterruptHigh();
while (function.InterruptComplete == 0)
{
Thread.Yield();
}
Assert.AreEqual(1, counter.GetCount(), "The interrupt did not fire the expected number of times");
long range = 10000;
string error = "The interrupt did not fire within the expected time period (values in milliseconds)";
Assert.Greater(function.InterruptFireTime, interruptTriggerTime - range, error);
Assert.Less(function.InterruptFireTime, interruptTriggerTime + range, error);
error = "The ReadRisingTimestamp() did not return the correct value (values in seconds";
Assert.Greater(GetInterruptable().ReadRisingTimestanp(), (interruptTriggerTime - range) / 1e6, error);
Assert.Less(GetInterruptable().ReadRisingTimestanp(), (interruptTriggerTime + range) / 1e6, error);
}
public void TestSingleInterruptsTriggering()
{
InterruptCounter counter = new InterruptCounter();
TestHandlerFunction function = new TestHandlerFunction(counter);
GetInterruptable().RequestInterrupts(function.Fired, counter);
GetInterruptable().EnableInterrupts();
SetInterruptLow();
Delay(0.01);
long interruptTriggerTime = (long)Utility.GetFPGATime();
SetInterruptHigh();
while (function.InterruptComplete == 0)
{
Thread.Yield();
}
Assert.AreEqual(1, counter.GetCount(), "The interrupt did not fire the expected number of times");
long range = 10000;
string error = "The interrupt did not fire within the expected time period (values in milliseconds)";
Assert.Greater(function.InterruptFireTime, interruptTriggerTime - range, error);
Assert.Less(function.InterruptFireTime, interruptTriggerTime + range, error);
error = "The ReadRisingTimestamp() did not return the correct value (values in seconds";
Assert.Greater(GetInterruptable().ReadRisingTimestanp(), (interruptTriggerTime - range) / 1e6, error);
Assert.Less(GetInterruptable().ReadRisingTimestanp(), (interruptTriggerTime + range) / 1e6, error);
}
public void TestDisableStopsInterruptFiring()
{
InterruptCounter counter = new InterruptCounter();
TestHandlerFunction function = new TestHandlerFunction(counter);
GetInterruptable().RequestInterrupts(function.Fired, counter);
GetInterruptable().EnableInterrupts();
int fireCount = 50;
for (int i = 0; i < fireCount; i++)
{
SetInterruptLow();
SetInterruptHigh();
while (function.InterruptComplete == 0)
{
Thread.Yield();
}
function.InterruptComplete = 0;
}
GetInterruptable().DisableInterrupts();
for (int i = 0; i < fireCount; i++)
{
SetInterruptLow();
SetInterruptHigh();
Thread.Yield();
}
Assert.AreEqual(fireCount, counter.GetCount(), "The interrupt did not fire the expected number of times");
}
public void TestSingleInterruptsTriggering()
{
//TODO: Add Analog Interrupts
if (RobotBase.IsSimulation && this is AnalogCrossConnectTest)
{
Assert.Ignore();
}
InterruptCounter counter = new InterruptCounter();
TestHandlerFunction function = new TestHandlerFunction(counter);
GetInterruptable().RequestInterrupts(function.fired, counter);
GetInterruptable().EnableInterrupts();
SetInterruptLow();
Delay(0.01);
long interruptTriggerTime = Utility.GetFPGATime();
SetInterruptHigh();
while (function.interruptComplete == 0)
{
Delay(0.005);
}
Assert.AreEqual(1, counter.GetCount(), "The interrupt did not fire the expected number of times");
long range = 10000;
string error = "The interrupt did not fire within the expected time period (values in milliseconds)";
Assert.Greater(function.interruptFireTime, (interruptTriggerTime - range), error);
Assert.Less(function.interruptFireTime, (interruptTriggerTime + range), error);
error = "The ReadRisingTimestamp() did not return the correct value (values in seconds";
Assert.Greater(GetInterruptable().ReadRisingTimestanp(), (interruptTriggerTime - range) / 1e6, error);
Assert.Less(GetInterruptable().ReadRisingTimestanp(), (interruptTriggerTime + range) / 1e6, error);
}
public void TestDisableStopsInterruptFiring()
{
//TODO: Add Analog Interrupts
if (RobotBase.IsSimulation && this is AnalogCrossConnectTest)
{
Assert.Ignore();
}
InterruptCounter counter = new InterruptCounter();
TestHandlerFunction function = new TestHandlerFunction(counter);
GetInterruptable().RequestInterrupts(function.fired, counter);
GetInterruptable().EnableInterrupts();
int fireCount = 50;
for (int i = 0; i < fireCount; i++)
{
SetInterruptLow();
SetInterruptHigh();
while (function.interruptComplete == 0)
{
Delay(0.005);
}
function.interruptComplete = 0;
}
GetInterruptable().DisableInterrupts();
for (int i = 0; i < fireCount; i++)
{
SetInterruptLow();
SetInterruptHigh();
Delay(0.005);
}
Assert.AreEqual(fireCount, counter.GetCount(), "The interrupt did not fire the expected number of times");
}