allwpilib/wpilibc/wpilibC++IntegrationTests/src/RelayTest.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "WPILib.h"
#include "gtest/gtest.h"
#include "TestBench.h"
#include "Relay.h"

static const double kDelayTime = 0.01;

class RelayTest : public testing::Test {
protected:
	Relay *m_relay;
	DigitalInput *m_forward;
	DigitalInput *m_reverse;


	virtual void SetUp() override {
		m_relay = new Relay(TestBench::kRelayChannel);
		m_forward = new DigitalInput(TestBench::kFakeRelayForward);
		m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
	}

	virtual void TearDown() override {
		delete m_relay;
		delete m_forward;
		delete m_reverse;
	}

	virtual void Reset() {
		m_relay->Set(Relay::kOff);
	}
};
	/**
	 * Test the relay by setting it forward, reverse, off, and on.
	 */
	TEST_F(RelayTest, Relay) {
		Reset();

		//set the relay to forward
		m_relay->Set(Relay::kForward);
		Wait(kDelayTime);
		EXPECT_TRUE(m_forward->Get())
		<<"Relay did not set forward";
		EXPECT_FALSE(m_reverse->Get())
		<<"Relay did not set forward";


		//set the relay to reverse
		m_relay->Set(Relay::kReverse);
		Wait(kDelayTime);
		EXPECT_TRUE(m_reverse->Get())
		<<"Relay did not set reverse";
		EXPECT_FALSE(m_forward->Get())
		<<"Relay did not set reverse";

		//set the relay to off
		m_relay->Set(Relay::kOff);
		Wait(kDelayTime);
		EXPECT_FALSE(m_forward->Get())
		<<"Relay did not set off";
		EXPECT_FALSE(m_reverse->Get())
		<<"Relay did not set off";


		//set the relay to on
		m_relay->Set(Relay::kOn);
		Wait(kDelayTime);
		EXPECT_TRUE(m_forward->Get())
		<<"Relay did not set on";
		EXPECT_TRUE(m_reverse->Get())
		<<"Relay did not set on";
	}