Added PDP tests for java and C++, updated TestBench.h

Change-Id: Idd6be8739065d757f5d1471ebb685d48a1c53e59

wpilibc/wpilibC++/include/WPILib.h

@@ -67,6 +67,7 @@
 #include "PIDOutput.h"
 #include "PIDSource.h"
 #include "Preferences.h"
+#include "PowerDistributionPanel.h"
 #include "PWM.h"
 #include "Relay.h"
 #include "Resource.h"

wpilibc/wpilibC++IntegrationTests/include/TestBench.h

@@ -50,4 +50,9 @@ public:
 
 	/* CAN IDs */
 	static const uint32_t kCANJaguarID = 1;
+
+	/* PDP channels */
+	static const uint32_t kJaguarPDPChannel = 7;
+	static const uint32_t kVictorPDPChannel = 11;
+	static const uint32_t kTalonPDPChannel = 12;
 };

wpilibc/wpilibC++IntegrationTests/src/PowerDistributionPanelTest.cpp

@@ -0,0 +1,100 @@
+/*----------------------------------------------------------------------------*/
+/* 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"
+
+/* The current returned when the motor is not being driven */
+static const double kLowCurrent =  1.52;
+static const double kCurrentTolerance =  0.1;
+
+class PowerDistributionPanelTest : public testing::Test {
+protected:
+  PowerDistributionPanel *m_pdp;
+  Talon *m_talon;
+  Victor *m_victor;
+  Jaguar *m_jaguar;
+
+  virtual void SetUp() {
+    m_pdp = new PowerDistributionPanel();
+    m_talon = new Talon(TestBench::kTalonChannel);
+    m_victor = new Victor(TestBench::kVictorChannel);
+    m_jaguar = new Jaguar(TestBench::kJaguarChannel);
+  }
+
+  virtual void TearDown() {
+    delete m_pdp;
+    delete m_talon;
+    delete m_victor;
+    delete m_jaguar;
+  }
+
+  void Reset() {
+    /* Reset all speed controllers to 0.0 */
+    m_talon->Set(0.0f);
+    m_victor->Set(0.0f);
+    m_jaguar->Set(0.0f);
+  }
+};
+
+/**
+ * Test if the current changes when the motor is driven using a talon
+ */
+TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
+  Reset();
+
+  /* The Current should be kLowCurrent */
+  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kCurrentTolerance)
+    << "The low current was not within the expected range.";
+
+  /* Set the motor to full forward */
+  m_talon->Set(1.0);
+  Wait(0.02);
+
+  /* The current should now be greater than the low current */
+  ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kLowCurrent)
+    << "The driven current is not greater than the resting current.";
+}
+
+/**
+ * Test if the current changes when the motor is driven using a victor
+ */
+TEST_F(PowerDistributionPanelTest,CheckCurrentVictor) {
+  Reset();
+
+  /* The Current should be kLowCurrent */
+  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kCurrentTolerance)
+    << "The low current was not within the expected range.";
+
+  /* Set the motor to full forward */
+  m_victor->Set(1.0);
+  Wait(0.02);
+
+  /* The current should now be greater than the low current */
+  ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kLowCurrent)
+    << "The driven current is not greater than the resting current.";
+}
+
+/**
+ * Test if the current changes when the motor is driven using a jaguar
+ */
+TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
+  Reset();
+
+  /* The Current should be kLowCurrent */
+  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kCurrentTolerance)
+    << "The low current was not within the expected range.";
+
+  /* Set the motor to full forward */
+  m_jaguar->Set(1.0);
+  Wait(0.02);
+
+  /* The current should now be greater than the low current */
+  ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kLowCurrent)
+    << "The driven current is not greater than the resting current.";
+}

wpilibj/wpilibJavaIntegrationTests/pom.xml

@@ -26,7 +26,7 @@
 		</dependency>
 		<dependency>
 			<groupId>org.hamcrest</groupId>
-			<artifactId>hamcrest-core</artifactId>
+			<artifactId>hamcrest-all</artifactId>
 			<version>1.3</version>
 		</dependency>
 		<!--dependency>

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java

@@ -0,0 +1,147 @@
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.*;
+import static org.hamcrest.Matchers.*;
+
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.can.CANTimeoutException;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+public class PDPTest extends AbstractComsSetup {
+	private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
+	/* The current returned when the motor is not being driven */
+	protected static final double  kLowCurrent =  1.52;
+	
+	protected static final double  kCurrentTolerance =  0.1;
+	
+	private static PowerDistributionPanel pdp;
+	private static Talon talon;
+	private static Victor victor;
+	private static Jaguar jaguar;
+	
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+		pdp = new PowerDistributionPanel();
+		talon = new Talon(TestBench.kTalonPDPChannel);
+		victor = new Victor(TestBench.kVictorPDPChannel);
+		jaguar = new Jaguar(TestBench.kJaguarPDPChannel);
+	}
+
+	@AfterClass
+	public static void tearDownAfterClass() throws Exception {
+		pdp.free();
+		talon.free();
+		victor.free();
+		jaguar.free();
+	}
+
+	@Before
+	public void setUp() throws Exception {
+		/* Reset all speed controllers to 0.0 */
+		talon.set(0.0);
+		victor.set(0.0);
+		jaguar.set(0.0);
+	}
+
+	@After
+	public void tearDown() throws Exception {
+	}
+	
+	/**
+	 * Test if the current changes when the motor is driven using a talon
+	 */
+	@Test
+	public void CheckCurrentTalon() {
+		/* The Current should be kLowCurrent */
+		try {
+			assertEquals("The low current was not within the expected range.", 
+					kLowCurrent, pdp.getCurrent(TestBench.kTalonPDPChannel), kCurrentTolerance);
+		} catch (CANTimeoutException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		Timer.delay(0.02);
+		
+		/* Set the motor to full forward */
+		talon.set(1.0);
+		Timer.delay(0.02);
+		/* The current should now be greater than the low current */
+		try {
+			assertThat("The driven current is not greater than the resting current.", 
+					pdp.getCurrent(TestBench.kTalonPDPChannel), is(greaterThan(kLowCurrent)));
+		} catch (CANTimeoutException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+	}
+	
+	/**
+	 * Test if the current changes when the motor is driven using a victor
+	 */
+	@Test
+	public void CheckCurrentVictor() {
+		/* The Current should be kLowCurrent */
+		try {
+			assertEquals("The low current was not within the expected range.", 
+					kLowCurrent, pdp.getCurrent(TestBench.kVictorPDPChannel), kCurrentTolerance);
+		} catch (CANTimeoutException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		Timer.delay(0.02);
+		
+		/* Set the motor to full forward */
+		victor.set(1.0);
+		Timer.delay(0.02);
+		/* The current should now be greater than the low current */
+		try {
+			assertThat("The driven current is not greater than the resting current.", 
+					pdp.getCurrent(TestBench.kVictorPDPChannel), is(greaterThan(kLowCurrent)));
+		} catch (CANTimeoutException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+	}
+	
+	/**
+	 * Test if the current changes when the motor is driven using a jaguar
+	 */
+	@Test
+	public void CheckCurrentJaguar() {
+		/* The Current should be kLowCurrent */
+		try {
+			assertEquals("The low current was not within the expected range.", 
+					kLowCurrent, pdp.getCurrent(TestBench.kJaguarPDPChannel), kCurrentTolerance);
+		} catch (CANTimeoutException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		Timer.delay(0.02);
+		
+		/* Set the motor to full forward */
+		jaguar.set(1.0);
+		Timer.delay(0.02);
+		
+		/* The current should now be greater than the low current */
+		try {
+			assertThat("The driven current is not greater than the resting current.", 
+					pdp.getCurrent(TestBench.kJaguarPDPChannel), is(greaterThan(kLowCurrent)));
+		} catch (CANTimeoutException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+	}
+
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java

@@ -28,7 +28,8 @@ import org.junit.runners.Suite.SuiteClasses;
 				RelayCrossConnectTest.class,
 				SampleTest.class,
 				TiltPanCameraTest.class,
-				TimerTest.class
+				TimerTest.class,
+				PDPTest.class
 				})
 public class WpiLibJTestSuite {
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -47,13 +47,17 @@ public final class TestBench {
 	 * completely stopped
 	 */
 	public static final double MOTOR_STOP_TIME = 0.20;
-
+	
+	/* PowerDistributionPanel channels */
+	public static final int kJaguarPDPChannel = 7;
+	public static final int kVictorPDPChannel = 11;
+	public static final int kTalonPDPChannel = 12;
 
 	//THESE MUST BE IN INCREMENTING ORDER
-	public static final int DIOCrossConnectA1 = 6;
-	public static final int DIOCrossConnectA2 = 7;
-	public static final int DIOCrossConnectB1 = 8;
 	public static final int DIOCrossConnectB2 = 9;
+	public static final int DIOCrossConnectB1 = 8;
+	public static final int DIOCrossConnectA2 = 7;
+	public static final int DIOCrossConnectA1 = 6;
 
 	/** The Singleton instance of the Test Bench */
 	private static TestBench instance = null;