/**
* Does the testing. Steps:
*
* <ul>
* <li>starts the Shifter thread
* <li>during the given time starts new Worker threads, keeping the number of live thread under
* limit.
* <li>stops the Shifter thread
* </ul>
*
* @param timeInMillis how long to stress
* @param maxThreads the maximum number of Worker thread working together.
*/
public void test(long timeInMillis, int maxThreads) {
if (timeInMillis <= 0 || maxThreads <= 0) {
throw new IllegalArgumentException("TEST BUG: be positive!");
}
System.out.println("%% Time to work: " + timeInMillis / 1000 + "s");
System.out.println("%% Number of threads: " + maxThreads);
long finish = System.currentTimeMillis() + timeInMillis;
Shifter shift = new Shifter(this, 1000, (int) (windowSize * 0.9));
shift.start();
for (int i = 0; i < maxThreads; i++) {
new Worker(this, 100).start();
}
try {
while (System.currentTimeMillis() < finish && errorMessage == null) {
Thread.sleep(100);
}
} catch (Throwable t) {
printAllStackTraces(System.err);
t.printStackTrace(System.err);
this.errorMessage = t.getMessage();
} finally {
isEnough = true;
}
System.out.println("%% Total work cycles: " + counter);
if (errorMessage != null) {
throw new RuntimeException(errorMessage);
}
}
public void robotInit() {
// instantiate the command used for the autonomous period
autonomousCommand = new AutonomousCommand();
// Initialize all subsystems
// VisionProcessing.getInstance();
Drivetrain.getInstance();
OI.getInstance();
Shifter.getInstance();
IntakeMotor.getInstance();
IntakePiston.getInstance();
Catapult.getInstance();
}
/** Returns the value of this sub-node. */
public short get() {
return Shifter.unsignedShiftRight((short) (value & mask), shiftRight);
}