mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
73 lines
1.9 KiB
C++
73 lines
1.9 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "WPILib.h"
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#include "gtest/gtest.h"
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#include "TestBench.h"
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/**
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* A fixture with a digital input and a digital output physically wired
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* together.
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*/
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class DIOLoopTest : public testing::Test {
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protected:
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DigitalInput *m_input;
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DigitalOutput *m_output;
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virtual void SetUp() {
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m_input = new DigitalInput(TestBench::kLoop1InputChannel);
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m_output = new DigitalOutput(TestBench::kLoop1OutputChannel);
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}
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virtual void TearDown() {
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delete m_input;
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delete m_output;
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}
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void Reset() {
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m_output->Set(false);
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}
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};
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/**
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* Test the DigitalInput and DigitalOutput classes by setting the output and
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* reading the input.
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*/
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TEST_F(DIOLoopTest, Loop) {
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Reset();
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m_output->Set(false);
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EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
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<< "the digital input is on.";
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m_output->Set(true);
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EXPECT_TRUE(m_input->Get()) << "The digital output was turned on, but "
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<< "the digital input is off.";
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}
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/**
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* Test a fake "counter" that uses the DIO loop as an input to make sure the
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* Counter class works
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*/
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TEST_F(DIOLoopTest, FakeCounter) {
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Reset();
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Counter counter(m_input);
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counter.Start();
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EXPECT_EQ(0, counter.Get()) << "Counter did not initialize to 0.";
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/* Count 100 ticks. The counter value should be 100 after this loop. */
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for(int i = 0; i < 100; i++) {
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m_output->Set(true);
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m_output->Set(false);
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}
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EXPECT_EQ(100, counter.Get()) << "Counter did not count up to 100.";
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}
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