public void TestHALRoboRioMapsToNativeAssemblySymbols()
{
var halRoboRioSymbols = NetProjects.GetHALRoboRioNativeSymbols();
var assembly = Assembly.GetExecutingAssembly();
var ps = Path.DirectorySeparatorChar;
var path = assembly.CodeBase.Replace("file:///", "").Replace("/", ps.ToString());
path = Path.GetDirectoryName(path);
// Start the child process.
Process p = new Process();
p.StartInfo.UseShellExecute = false;
p.StartInfo.RedirectStandardOutput = true;
p.StartInfo.FileName = path + "\\..\\..\\HAL\\AthenaHAL\\Native\\frcnm.exe";
p.StartInfo.Arguments = path + "\\..\\..\\HAL\\AthenaHAL\\Native\\libHALAthena.so";
p.Start();
string output = p.StandardOutput.ReadToEnd();
p.WaitForExit();
bool found = true;
string[] nativeSymbols = output.Split('\r');
foreach (var halSymbol in halRoboRioSymbols)
{
bool foundSymbol = nativeSymbols.Any(nativeSymbol => nativeSymbol.EndsWith(halSymbol));
if (!foundSymbol)
{
found = false;
Console.WriteLine(halSymbol);
}
}
Assert.That(found);
}
public void TestHALBlittable()
{
List <string> allowedTypes = new List <string>()
{
// Allowed types with arrays are also allowed
"byte",
"sbyte",
"short",
"ushort",
"int",
"uint",
"long",
"ulong",
"IntPtr",
"UIntPtr",
"float",
"void",
"double",
// For now force our enum types to be OK
"CTR_Code",
"HALAccelerometerRange",
"HALAllianceStationID",
"HALAnalogTriggerType",
"HALEncoderEncodingType",
"HALEncoderIndexingType",
"HALRuntimeType",
"Mode",
//Also allow any structs known to be blittable
"CANStreamMessage",
"HALJoystickButtons",
"HALJoystickPOVs",
"HALJoystickAxes",
"HALControlWord",
"HALJoystickDescriptor",
// Make our structs blittable
"HAL_NotifierProcess",
"HAL_InterruptHandlerFunction",
//For now allow bool, since it marshalls easily
//This will change if the native windows HAL is not 1 byte bools
"bool",
};
List <string> notBlittableMethods = new List <string>();
var halBaseDelegates = NetProjects.GetHalBaseDelegates();
foreach (var halDelegate in halBaseDelegates)
{
foreach (var methodSyntax in halDelegate.Methods)
{
List <TypeSyntax> types = new List <TypeSyntax>();
if (methodSyntax.AttributeLists.Count != 0)
{
if (methodSyntax.AttributeLists[0].Attributes[0].Name.ToString() == nameof(HALAllowNonBlittable))
{
//We can ignore it.
}
else
{
types.Add(methodSyntax.ReturnType);
}
}
else
{
types.Add(methodSyntax.ReturnType);
}
List <string> param = new List <string>();
StringBuilder builder = new StringBuilder();
builder.Append($"\t {methodSyntax.ReturnType} {methodSyntax.Identifier} (");
bool first = true;
foreach (var parameter in methodSyntax.ParameterList.Parameters)
{
if (parameter.AttributeLists.Count != 0)
{
if (parameter.AttributeLists[0].Attributes[0].Name.ToString() == nameof(HALAllowNonBlittable))
{
//We can ignore it.
}
else
{
types.Add(parameter.Type);
}
}
else
{
types.Add(parameter.Type);
}
param.Add(parameter.Type.ToString());
if (first)
{
first = false;
builder.Append($"{parameter.Type} {parameter.Identifier}");
}
else
{
builder.Append($", {parameter.Type} {parameter.Identifier}");
}
}
builder.Append(")");
CheckForBlittable(types, allowedTypes, notBlittableMethods, builder.ToString());
}
}
foreach (string s in notBlittableMethods)
{
Console.WriteLine(s);
}
if (notBlittableMethods.Count != 0)
{
Assert.Fail();
}
else
{
Assert.Pass();
}
}