internal override InterruptableSensorBase GiveInterruptableSensorBase()
{
m_interruptTrigger = new AnalogTrigger(s_analogIo.GetInput());
m_interruptTrigger.SetLimitsVoltage(2.0f, 3.0f);
m_interruptTriggerOutput = new AnalogTriggerOutput(m_interruptTrigger, AnalogTriggerType.State);
return(m_interruptTriggerOutput);
}
public void TestAnalogTriggerNullInput()
{
Assert.Throws<ArgumentNullException>(() =>
{
AnalogTrigger trigger = new AnalogTrigger(null);
});
}
internal override void FreeInterruptableSensorBase()
{
m_interruptTriggerOutput.CancelInterrupts();
m_interruptTriggerOutput.Dispose();
m_interruptTriggerOutput = null;
m_interruptTrigger.Dispose();
m_interruptTrigger = null;
}
public void TestSetFiltered()
{
using (AnalogTrigger at = new AnalogTrigger(2))
{
at.Averaged = false;
at.Filtered = true;
Assert.AreEqual(TrigerType.Filtered, GetData(at.Index).TrigType);
}
}
public void TestAnalogTriggerOutputCreation()
{
using (AnalogTrigger trigger = new AnalogTrigger(0))
{
using (AnalogTriggerOutput output = new AnalogTriggerOutput(trigger, AnalogTriggerType.State))
{
Assert.That(SimData.Reports.ContainsKey((byte)ResourceType.kResourceType_AnalogTriggerOutput));
Assert.That(SimData.Reports[(byte)ResourceType.kResourceType_AnalogTriggerOutput].Contains((byte)trigger.Index));
}
}
}
public void TestAnalogTriggerInitFree([Range(0, 7)]int pin)
{
int index;
using (AnalogTrigger trigger = new AnalogTrigger(pin))
{
index = trigger.Index;
Assert.IsTrue(GetData(index).Initialized);
Assert.AreEqual(pin, GetData(index).AnalogPin);
}
Assert.IsFalse(GetData(index).Initialized);
}
public void TestSetFilteredThenAverage()
{
using (AnalogTrigger at = new AnalogTrigger(2))
{
SimData.DriverStation.ControlData.DsAttached = true;
SimData.ErrorData = null;
at.Averaged = true;
at.Filtered = true;
Assert.That(SimData.ErrorData, Is.Not.Null);
SimData.ErrorData = null;
}
}
/// <summary>
/// Get the position of the analog triggers
/// </summary>
/// <param name="trigger">Trigger to retrieve the position of</param>
/// <returns>Position of the trigger button</returns>
public byte GetAnalogT(AnalogTrigger trigger)
{
if (!IsConnected || XBoxJoystickData == null)
{
return(0);
}
lock (XBoxJoystickData)
{
return((byte)(XBoxJoystickData[(uint)trigger]));
}
}
public void TestAnalogTriggerAboveWindow()
{
AnalogTrigger trigger = new AnalogTrigger(s_analogIo.GetInput());
trigger.SetLimitsVoltage(2.0f, 3.0f);
s_analogIo.GetOutput().SetVoltage(4.0f);
Timer.Delay(DelayTime);
Assert.IsFalse(trigger.GetInWindow(), "Analog Trigger is in the window (2V, 3V)");
Assert.IsTrue(trigger.GetTriggerState(), "Analog trigger is not on");
trigger.Dispose();
}
public void TestAnalogTriggerInWindow()
{
AnalogTrigger trigger = new AnalogTrigger(s_analogIo.GetInput());
trigger.SetLimitsVoltage(2.0f, 3.0f);
s_analogIo.GetOutput().SetVoltage(2.5f);
Timer.Delay(DelayTime);
Assert.IsTrue(trigger.GetInWindow(), "Analog Trigger is not in the window (2V, 3V)");
//Not checking for state, because state will be whichever state it was in last.
trigger.Dispose();
}
public void TestAnalogTriggerInWindow()
{
AnalogTrigger trigger = new AnalogTrigger(analogIO.GetInput());
trigger.SetLimitsVoltage(2.0f, 3.0f);
analogIO.GetOutput().SetVoltage(2.5f);
Timer.Delay(DelayTime);
Assert.IsTrue(trigger.InWindow, "Analog Trigger is not in the window (2V, 3V)");
Assert.IsFalse(trigger.TriggerState, "Analog trigger is on");
trigger.Dispose();
}
public void TestAnalogTriggerAboveWindow()
{
AnalogTrigger trigger = new AnalogTrigger(s_analogIo.GetInput());
trigger.SetLimitsVoltage(2.0f, 3.0f);
s_analogIo.GetOutput().SetVoltage(4.0f);
Timer.Delay(DelayTime);
Assert.IsFalse(trigger.GetInWindow(), "Analog Trigger is in the window (2V, 3V)");
Assert.IsTrue(trigger.GetTriggerState(), "Analog trigger is not on");
trigger.Dispose();
}
public void TestAnalogTriggerInWindow()
{
AnalogTrigger trigger = new AnalogTrigger(s_analogIo.GetInput());
trigger.SetLimitsVoltage(2.0f, 3.0f);
s_analogIo.GetOutput().SetVoltage(2.5f);
Timer.Delay(DelayTime);
Assert.IsTrue(trigger.GetInWindow(), "Analog Trigger is not in the window (2V, 3V)");
//Not checking for state, because state will be whichever state it was in last.
trigger.Dispose();
}
public void TestAnalogTriggerOutputRoutings(AnalogTriggerType type)
{
using (AnalogTrigger trigger = new AnalogTrigger(0))
{
using (AnalogTriggerOutput output = new AnalogTriggerOutput(trigger, type))
{
Assert.That(output.AnalogTriggerForRouting, Is.True);
int routingChannel = (trigger.Index << 2) + (int)type;
byte routingModule = (byte)(trigger.Index >> 2);
Assert.That(output.ChannelForRouting, Is.EqualTo(routingChannel));
Assert.That(output.ModuleForRouting, Is.EqualTo(routingModule));
}
}
}
public void TestAnalogTriggerTakeAnalogInput()
{
using (AnalogInput aIn = new AnalogInput(0))
{
Assert.That(SimData.AnalogIn[0].Initialized, Is.True);
int index = 0;
using (AnalogTrigger trigger = new AnalogTrigger(aIn))
{
index = trigger.Index;
Assert.That(GetData(index).Initialized, Is.True);
}
Assert.That(GetData(index).Initialized, Is.False);
Assert.That(SimData.AnalogIn[0].Initialized, Is.True);
}
Assert.That(SimData.AnalogIn[0].Initialized, Is.False);
}
public void TestAnalogTriggerCounter()
{
AnalogTrigger trigger = new AnalogTrigger(s_analogIo.GetInput());
trigger.SetLimitsVoltage(2.0f, 3.0f);
Counter counter = new Counter(trigger);
for (int i = 0; i < 50; i++)
{
s_analogIo.GetOutput().SetVoltage(1.0);
Timer.Delay(DelayTime);
s_analogIo.GetOutput().SetVoltage(4.0);
Timer.Delay(DelayTime);
}
Assert.AreEqual(50, counter.Get(), "Analog trigger counter did not count 50 ticks");
counter.Dispose();
trigger.Dispose();
}
public void TestSetLimitsVoltageInvalid()
{
using (AnalogTrigger at = new AnalogTrigger(2))
{
Assert.Throws<BoundaryException>(() =>
{
at.SetLimitsVoltage(4.0, 2.0);
});
}
}
internal override void FreeInterruptableSensorBase()
{
m_interruptTriggerOutput.CancelInterrupts();
m_interruptTriggerOutput.Dispose();
m_interruptTriggerOutput = null;
m_interruptTrigger.Dispose();
m_interruptTrigger = null;
}
public void TestAnalogTriggerOutputGetInvalidType()
{
using (AnalogTrigger trigger = new AnalogTrigger(0))
{
using (AnalogTriggerOutput output = new AnalogTriggerOutput(trigger, AnalogTriggerType.FallingPulse))
{
Assert.Throws<UncleanStatusException>(() =>
{
output.Get();
});
}
}
}
public void TestAnalogTriggerOutputGetInWindow()
{
using (AnalogTrigger trigger = new AnalogTrigger(0))
{
using (AnalogTriggerOutput output = new AnalogTriggerOutput(trigger, AnalogTriggerType.InWindow))
{
HALAnalog.GetAnalogTriggerInWindow = (IntPtr pointer, ref int status) =>
{
status = 0;
return false;
};
Assert.That(output.Get(), Is.False);
HALAnalog.GetAnalogTriggerInWindow = (IntPtr pointer, ref int status) =>
{
status = 0;
return true;
};
Assert.That(output.Get(), Is.True);
HALAnalog.GetAnalogTriggerInWindow = global::HAL.SimulatorHAL.HALAnalog.getAnalogTriggerInWindow;
}
}
}
public void TestCounterInit5()
{
using (AnalogTrigger at = new AnalogTrigger(2))
{
using (Counter ctr = new Counter(at))
{
TestInit(0, 2, 0, true, false, false, false, true);
}
}
}
public void TestCounterSetDownAnalogSource()
{
using (Counter c = new Counter())
{
TestInit(0, 0, 0, false, false, false, false);
using (AnalogTrigger at = new AnalogTrigger(2))
{
c.SetDownSource(at, AnalogTriggerType.State);
TestInit(0, 0, 2, false, false, false, false, false, true);
}
}
}
public void TestAnalogTriggerCounter()
{
AnalogTrigger trigger = new AnalogTrigger(s_analogIo.GetInput());
trigger.SetLimitsVoltage(2.0f, 3.0f);
Counter counter = new Counter(trigger);
for (int i = 0; i < 50; i++)
{
s_analogIo.GetOutput().SetVoltage(1.0);
Timer.Delay(DelayTime);
s_analogIo.GetOutput().SetVoltage(4.0);
Timer.Delay(DelayTime);
}
Assert.AreEqual(50, counter.Get(), "Analog trigger counter did not count 50 ticks");
counter.Dispose();
trigger.Dispose();
}
//public static List<ErrorData> ErrorList { get; } = new List<ErrorData>();
/*
* /// <summary>
* /// Gets the can talon.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static CanTalonData GetCanTalon(int id)
* {
* CanTalonData data;
* bool retVal = s_canTalon.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. Just return it
* return data;
* }
* else
* {
* //CAN Talon does not exist yet. Return null.
* return null;
* }
* }
*
* /// <summary>
* /// Initializes the can talon.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static bool InitializeCanTalon(int id)
* {
* CanTalonData data;
* bool retVal = s_canTalon.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. return false saying we did not initialize a new one.
* return false;
* }
* else
* {
* //Create a new Can Talon data and return true.
* data = new CanTalonData();
* s_canTalon.Add(id, data);
* OnTalonSRXAddedOrRemoved?.Invoke(id, new TalonSRXEventArgs(true));
* return true;
* }
* }
*
* /// <summary>
* /// Removes the can talon.
* /// </summary>
* /// <param name="id">The identifier.</param>
* public static void RemoveCanTalon(int id)
* {
* s_canTalon.Remove(id);
* OnTalonSRXAddedOrRemoved?.Invoke(id, new TalonSRXEventArgs(false));
* }
*
* /// <summary>
* /// Gets the PCM.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static PCMData GetPCM(int id)
* {
* PCMData data;
* bool retVal = s_pcm.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. Just return it
* return data;
* }
* else
* {
* data = new PCMData();
* s_pcm.Add(id, data);
* OnPCMAdded?.Invoke(data, null);
* return data;
* }
* }
*
* /// <summary>
* /// Initializes the PCM.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static bool InitializePCM(int id)
* {
* PCMData data;
* bool retVal = s_pcm.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. return false saying we did not initialize a new one.
* return false;
* }
* else
* {
* //Create a new PCM data and return true.
* data = new PCMData();
* s_pcm.Add(id, data);
* OnPCMAdded?.Invoke(data, null);
* return true;
* }
* }
*
* /// <summary>
* /// Gets the PDP.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns></returns>
* public static PDPData GetPDP(int id)
* {
* PDPData data;
* bool retVal = s_pdp.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. Just return it
* return data;
* }
* else
* {
* data = new PDPData();
* s_pdp.Add(id, data);
* OnPDPAdded?.Invoke(data, null);
* return data;
* }
* }
*
* /// <summary>
* /// Initializes a new PDP.
* /// </summary>
* /// <param name="id">The identifier.</param>
* /// <returns>True if new PDP was created, otherwise false</returns>
* public static bool InitializePDP(int id)
* {
* PDPData data;
* bool retVal = s_pdp.TryGetValue(id, out data);
* if (retVal)
* {
* //Contains key. return false saying we did not initialize a new one.
* return false;
* }
* else
* {
* //Create a new PCM data and return true.
* data = new PDPData();
* s_pdp.Add(id, data);
* OnPDPAdded?.Invoke(data, null);
* return true;
* }
* }
*
* /// <summary>
* /// Occurs on talon SRX added or removed.
* /// </summary>
* public static event EventHandler<TalonSRXEventArgs> OnTalonSRXAddedOrRemoved;
* /// <summary>
* /// Occurs when a PCM is added.
* /// </summary>
* public static event EventHandler OnPCMAdded;
* /// <summary>
* /// Occurs when a PDP is added.
* /// </summary>
* public static event EventHandler OnPDPAdded;
*
*/
static SimData()
{
for (int i = 0; i < HAL_GetNumPCMModules(); i++)
{
PCM.Add(new HALSimPCMData(i));
}
for (int i = 0; i < HAL_GetNumPDPModules(); i++)
{
PDP.Add(new HALSimPDPData(i));
}
for (int i = 0; i < HAL_GetNumAccumulators(); i++)
{
AnalogGyro.Add(new HALSimAnalogGyroData(i));
}
for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++)
{
AnalogOut.Add(new HALSimAnalogOutData(i));
}
for (int i = 0; i < HAL_GetNumAnalogInputs(); i++)
{
AnalogIn.Add(new HALSimAnalogInData(i));
}
for (int i = 0; i < HAL_GetNumAnalogTriggers(); i++)
{
AnalogTrigger.Add(new HALSimAnalogTriggerData(i));
}
for (int i = 0; i < HAL_GetNumDigitalChannels(); i++)
{
DIO.Add(new HALSimDIOData(i));
}
for (int i = 0; i < HAL_GetNumDigitalPWMOutputs(); i++)
{
DigitalPWM.Add(new HALSimDigitalPWMData(i));
}
for (int i = 0; i < 4; i++)
{
//DigitalGlitchFilter.Add(new DigitalGlitchFilterData());
}
for (int i = 0; i < HAL_GetNumPWMChannels(); i++)
{
PWM.Add(new HALSimPWMData(i));
}
for (int i = 0; i < 4; i++)
{
Relay.Add(new HALSimRelayData(i));
}
for (int i = 0; i < 8; i++)
{
//Counter.Add(new CounterData());
}
for (int i = 0; i < 8; i++)
{
Encoder.Add(new HALSimEncoderData(i));
}
for (int i = 0; i < 5; i++)
{
SPIAccelerometer.Add(new HALSimSPIAccelerometerData(i));
}
for (int i = 0; i < 5; i++)
{
//SPIAccumulator.Add(new SPIAccumulatorData());
}
//InitializePDP(0);
//ErrorList.Clear();
}
public void TestCounterInit5()
{
//Assert.Pass();
//return;
using (AnalogTrigger at = new AnalogTrigger(2))
{
using (Counter ctr = new Counter(at))
{
TestInit(0, 1, 0, true, false, false, false, true);
}
}
}
public void TestSetLimitsRawValid()
{
using (AnalogTrigger at = new AnalogTrigger(2))
{
at.SetLimitsRaw(50, 150);
Assert.That(GetAnalogVoltageToValue(2, GetData(at.Index).TrigLower), Is.EqualTo(50));
Assert.That(GetAnalogVoltageToValue(2, GetData(at.Index).TrigUpper), Is.EqualTo(150));
}
}
public void TestSetLimitsRawInvalid()
{
using (AnalogTrigger at = new AnalogTrigger(2))
{
Assert.Throws<BoundaryException>(() =>
{
at.SetLimitsRaw(150, 50);
});
}
}
public void TestAnalogTriggerGetInWindow()
{
using (AnalogTrigger trigger = new AnalogTrigger(0))
{
HALAnalog.GetAnalogTriggerInWindow = (IntPtr pointer, ref int status) =>
{
status = 0;
return false;
};
Assert.That(trigger.GetInWindow(), Is.False);
HALAnalog.GetAnalogTriggerInWindow = (IntPtr pointer, ref int status) =>
{
status = 0;
return true;
};
Assert.That(trigger.GetInWindow(), Is.True);
HALAnalog.GetAnalogTriggerInWindow = HAL.SimulatorHAL.HALAnalog.getAnalogTriggerInWindow;
}
}
internal override InterruptableSensorBase GiveInterruptableSensorBase()
{
m_interruptTrigger = new AnalogTrigger(s_analogIo.GetInput());
m_interruptTrigger.SetLimitsVoltage(2.0f, 3.0f);
m_interruptTriggerOutput = new AnalogTriggerOutput(m_interruptTrigger, AnalogTriggerType.State);
return m_interruptTriggerOutput;
}
public void TestSetLimitsVoltageValid()
{
using (AnalogTrigger at = new AnalogTrigger(2))
{
at.SetLimitsVoltage(2.2, 4.4);
Assert.That(GetData(at.Index).TrigLower, Is.EqualTo(2.2));
Assert.That(GetData(at.Index).TrigUpper, Is.EqualTo(4.4));
}
}
