Choreo/choreolib/src/test/java/choreo/auto/DoneTest.java at 5340ae80b5c0617bdbc34ee17fe5374632ccf892 · SleipnirGroup/Choreo · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
// Copyright (c) Choreo contributors

package choreo.auto;

import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;

import choreo.trajectory.SwerveSample;
import choreo.trajectory.Trajectory;
import choreo.trajectory.TrajectoryTestHelper;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SchedulerMaker;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import org.junit.jupiter.api.Test;

public class DoneTest {
  private static final Pose2d start = new Pose2d();
  private static final Pose2d end = new Pose2d(2.0, 2.0, new Rotation2d(Math.PI));

  @Test
  public void testExecution() {
    assert HAL.initialize(500, 0);
    CommandScheduler scheduler = SchedulerMaker.make();

    AutoFactory factory = AutoTestHelper.factory();
    Trajectory<SwerveSample> trajectory =
        TrajectoryTestHelper.linearTrajectory("test", start, end, 3.0, SwerveSample.class);
    AutoRoutine routine = factory.newRoutine("test");
    AutoTrajectory traj = factory.trajectory(trajectory, routine, true);

    Trigger oneSecondIn = traj.atTime(1.0);
    Trigger twoSecondIn = traj.atTime(2.0);

    Trigger done = traj.done();
    Trigger doneDelayed = traj.doneDelayed(2.0);
    Trigger doneFor = traj.doneFor(2.5);
    Trigger recentlyDone = traj.recentlyDone();

    // makes the scheduler poll the triggers every cycle
    oneSecondIn.onTrue(Commands.none());
    twoSecondIn.onTrue(Commands.none());
    done.onTrue(Commands.none());
    doneDelayed.onTrue(Commands.none());
    doneFor.onTrue(Commands.none());
    recentlyDone.onTrue(Commands.none());

    SimHooks.pauseTiming();

    DriverStationSim.setDsAttached(true);
    DriverStationSim.setEnabled(true);
    DriverStationSim.setAutonomous(true);
    DriverStationSim.notifyNewData();
    DriverStation.refreshData();
    assertTrue(DriverStation.isAutonomousEnabled());

    assertFalse(oneSecondIn);
    assertFalse(twoSecondIn);
    assertFalse(done);
    assertFalse(doneDelayed);
    assertFalse(doneFor);
    assertFalse(recentlyDone);

    scheduler.schedule(routine.cmd());
    scheduler.run(); // requred to mark routine active
    scheduler.schedule(traj.cmd());
    scheduler.run();

    assertTrue(routine.active());
    assertTrue(traj.active());

    assertFalse(oneSecondIn);
    assertFalse(twoSecondIn);
    assertFalse(done);
    assertFalse(doneDelayed);
    assertFalse(doneFor);
    assertFalse(recentlyDone);

    SimHooks.stepTiming(1.0);
    scheduler.run();
    assertTrue(oneSecondIn);
    assertTrue(oneSecondIn);
    assertFalse(twoSecondIn);
    SimHooks.stepTiming(1.1);
    scheduler.run();
    assertFalse(oneSecondIn);
    assertTrue(twoSecondIn);
    SimHooks.stepTiming(1.05);
    scheduler.run();
    assertTrue(traj.inactive());

    assertTrue(done);
    assertFalse(doneDelayed);
    assertTrue(doneFor);
    assertTrue(recentlyDone);
    SimHooks.stepTiming(0.2);
    assertTrue(done);

    SimHooks.stepTiming(1.0);
    scheduler.run();
    assertFalse(done);
    assertFalse(doneDelayed);
    assertTrue(doneFor);
    assertTrue(recentlyDone);

    SimHooks.stepTiming(1.0);
    scheduler.run();
    assertFalse(done);
    assertTrue(doneDelayed);
    assertTrue(doneDelayed);
    assertTrue(doneFor);
    assertTrue(recentlyDone);

    routine.updateIdle(false); // simulating to starting a new trajectory
    SimHooks.stepTiming(1.0);
    scheduler.run();
    assertFalse(doneFor);
    assertFalse(recentlyDone);

    // test re-running a trajectory
    scheduler.schedule(traj.cmd());
    scheduler.run();

    assertTrue(routine.active());
    assertTrue(traj.active());

    SimHooks.stepTiming(2.0);
    scheduler.run();
    scheduler.run();
    SimHooks.stepTiming(1.05);
    scheduler.run();

    assertTrue(traj.inactive());
    assertTrue(done);

    SimHooks.resumeTiming();

    DriverStationSim.setDsAttached(true);
    DriverStationSim.setEnabled(true);
    DriverStationSim.setAutonomous(true);
    DriverStationSim.notifyNewData();
    DriverStation.refreshData();
    assertTrue(DriverStation.isAutonomousEnabled());
  }
}