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ThadHouseThadHouse
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Add hal and datalog tests
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6 files changed

+98
-5
lines changed

6 files changed

+98
-5
lines changed

‎WPILib.sln

+15
Original file line numberDiff line numberDiff line change
@@ -51,6 +51,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "datalog", "src\datalog\data
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "datalog.test", "test\datalog.test\datalog.test.csproj", "{49B1AC50-4FD0-4524-85BA-FC26AD1EEBBA}"
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "hal.test", "test\hal.test\hal.test.csproj", "{88C326DC-0E40-40B9-86B5-95157FF37D95}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Any CPU = Debug|Any CPU
@@ -301,6 +303,18 @@ Global
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{49B1AC50-4FD0-4524-85BA-FC26AD1EEBBA}.Release|x64.Build.0 = Release|Any CPU
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{49B1AC50-4FD0-4524-85BA-FC26AD1EEBBA}.Release|x86.ActiveCfg = Release|Any CPU
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{49B1AC50-4FD0-4524-85BA-FC26AD1EEBBA}.Release|x86.Build.0 = Release|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Debug|x64.ActiveCfg = Debug|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Debug|x64.Build.0 = Debug|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Debug|x86.ActiveCfg = Debug|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Debug|x86.Build.0 = Debug|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Release|Any CPU.Build.0 = Release|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Release|x64.ActiveCfg = Release|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Release|x64.Build.0 = Release|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Release|x86.ActiveCfg = Release|Any CPU
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{88C326DC-0E40-40B9-86B5-95157FF37D95}.Release|x86.Build.0 = Release|Any CPU
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
@@ -325,5 +339,6 @@ Global
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{B09918CC-E71F-4E49-AA20-81559D3583B2} = {DB664556-4BF0-4874-8CB6-DC24E60A67AF}
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{92BE0A00-437A-43BF-9793-2995FDB3DC23} = {DB664556-4BF0-4874-8CB6-DC24E60A67AF}
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{49B1AC50-4FD0-4524-85BA-FC26AD1EEBBA} = {AD95ECD8-E708-4FB4-9B7E-A8A8EF3FCB3E}
342+
{88C326DC-0E40-40B9-86B5-95157FF37D95} = {AD95ECD8-E708-4FB4-9B7E-A8A8EF3FCB3E}
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EndGlobalSection
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EndGlobal

‎src/datalog/DataLogWriter.cs

+7-1
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,13 @@ namespace WPI.Logging;
44

55
public unsafe class DataLogWriter : DataLog
66
{
7-
public DataLogWriter(string filename, string extraHeader = "") : base(DataLogNative.Create(filename, extraHeader))
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private static OpaqueDataLog* Create(string filename, string extraHeader)
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{
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var errorCode = 0;
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return DataLogNative.Create(filename, &errorCode, extraHeader);
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}
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public DataLogWriter(string filename, string extraHeader = "") : base(Create(filename, extraHeader))
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{
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}
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}

‎src/datalog/Natives/DataLogNative.cs

+2-2
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@ public static partial class DataLogNative
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{
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[LibraryImport("datalog", EntryPoint = "WPI_DataLog_CreateWriter")]
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[UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
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public static unsafe partial OpaqueDataLog* Create(WpiString dir, WpiString filename);
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public static unsafe partial OpaqueDataLog* Create(WpiString dir, int* errorCode, WpiString filename);
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[LibraryImport("datalog", EntryPoint = "WPI_DataLog_CreateBackgroundWriter")]
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[UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
@@ -27,7 +27,7 @@ public static partial class DataLogNative
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[UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
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public static unsafe partial void Release(OpaqueDataLog* datalog);
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30-
[LibraryImport("datalog", EntryPoint = "WPI_DataLog_SetFilename")]
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[LibraryImport("datalog", EntryPoint = "WPI_DataLog_SetBackgroundWriterFilename")]
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[UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
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public static unsafe partial void SetFilename(OpaqueDataLog* datalog, WpiString filename);
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‎test/datalog.test/SymbolVerifier.cs

+36
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
using System.Reflection;
2+
using System.Runtime.InteropServices;
3+
using WPI.Logging;
4+
using Xunit;
5+
6+
namespace Datalog.Test;
7+
8+
public class SymbolVerifier
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{
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[Fact]
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public void VerifySymbols()
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{
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Assembly assemblyType = typeof(DataLogBackgroundWriter).Assembly;
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// Find all native methods
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var foundMethods =
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assemblyType.GetTypes()
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.SelectMany(x => x.GetMethods(BindingFlags.Static | BindingFlags.NonPublic | BindingFlags.Public))
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.Where(x => x.Attributes.HasFlag(MethodAttributes.PinvokeImpl))
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.Select(x => (x, x.GetCustomAttribute<DllImportAttribute>()))
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.Where(x => x.Item2 != null)
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.Select(x => (Method: x.x, Dll: x.Item2!.Value, EntryPoint: x.Item2.EntryPoint ?? x.x.Name));
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Dictionary<string, nint> libraries = [];
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foreach (var method in foundMethods)
25+
{
26+
if (!libraries.ContainsKey(method.Dll))
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{
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libraries[method.Dll] = NativeLibrary.Load(method.Dll, assemblyType, DllImportSearchPath.UseDllDirectoryForDependencies);
29+
}
30+
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var library = libraries[method.Dll];
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Assert.True(NativeLibrary.TryGetExport(library, method.EntryPoint, out _),
33+
$"Failed to find symbol {method.EntryPoint} in {method.Dll}");
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}
35+
}
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}

‎test/hal.test/LoadingTests.cs

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
using Hal;
1+
using WPIHal.Natives;
22
using Xunit;
33

44
namespace hal.test
@@ -8,7 +8,7 @@ public class LoadingTests
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[Fact]
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public void TestHalLoads()
1010
{
11-
Assert.True(HALLowLevel.Initialize());
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HalBase.Initialize();
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}
1313
}
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}

‎test/hal.test/SymbolVerifier.cs

+36
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
// using System.Reflection;
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// using System.Runtime.InteropServices;
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// using WPIHal;
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// using Xunit;
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6+
// namespace HAL.Test;
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8+
// public class SymbolVerifier
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// {
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// [Fact]
11+
// public void VerifySymbols()
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// {
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// Assembly assemblyType = typeof(HalType).Assembly;
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// // Find all native methods
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// var foundMethods =
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// assemblyType.GetTypes()
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// .SelectMany(x => x.GetMethods(BindingFlags.Static | BindingFlags.NonPublic | BindingFlags.Public))
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// .Where(x => x.Attributes.HasFlag(MethodAttributes.PinvokeImpl))
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// .Select(x => (x, x.GetCustomAttribute<DllImportAttribute>()))
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// .Where(x => x.Item2 != null)
21+
// .Select(x => (Method: x.x, Dll: x.Item2!.Value, EntryPoint: x.Item2.EntryPoint ?? x.x.Name));
22+
23+
// Dictionary<string, nint> libraries = [];
24+
// foreach (var method in foundMethods)
25+
// {
26+
// if (!libraries.ContainsKey(method.Dll))
27+
// {
28+
// libraries[method.Dll] = NativeLibrary.Load(method.Dll, assemblyType, DllImportSearchPath.UseDllDirectoryForDependencies);
29+
// }
30+
31+
// var library = libraries[method.Dll];
32+
// Assert.True(NativeLibrary.TryGetExport(library, method.EntryPoint, out _),
33+
// $"Failed to find symbol {method.EntryPoint} in {method.Dll}");
34+
// }
35+
// }
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// }

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