Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Tilt pan camera test

Browse Source 
Change-Id: I4496c9940a5da0bd78d90f1a5b4a9ebea6597336
This commit is contained in:
thomasclark
2014-06-02 17:34:10 -04:00
parent bb50f4b134
commit 2e39540f20
7 changed files with 181 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
run-cpp-tests.sh
View File

@@ -6,11 +6,12 @@ if [ $(which sshpass) ]
then
sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram
sshpass -p "" scp cmake/target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram
sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram
else
ssh admin@10.1.90.2 killall FRCUserProgram
scp cmake/target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
ssh admin@10.1.90.2 ./FRCUserProgram
ssh admin@10.1.90.2 ./FRCUserProgram
fi

17
wpilibc/wpilibC++IntegrationTests/include/TestBench.h Normal file
View File

@@ -0,0 +1,17 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "WPILib.h"
#include "fixtures/TiltPanCameraFixture.h"
class TestBench {
public:
static TiltPanCameraFixture *GetTiltPanCamera();
};

53
wpilibc/wpilibC++IntegrationTests/include/fixtures/ITestFixture.h Normal file
View File

@@ -0,0 +1,53 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
/**
* Master interface for all test fixtures. This ensures that all test fixtures
* have setup and teardown methods, to ensure that the tests run properly.
*
* Test fixtures should be modeled around the content of a test, rather than the
* actual physical layout of the testing board. They should obtain references to
* hardware from the {@link TestBench} class, which is a singleton. Testing
* Fixtures are responsible for ensuring that the hardware is in an appropriate
* state for the start of a test, and ensuring that future tests will not be
* affected by the results of a test.
*/
class ITestFixture {
public:
/**
* Performs any required setup for this fixture, ensuring that all fixture
* elements are ready for testing.
*
* @return True if the fixture is ready for testing
*/
virtual bool SetUp() = 0;
/**
* Resets the fixture back to test start state. This should be called by the
* test class in the test setup method to ensure that the hardware is in the
* default state. This differs from {@link ITestFixture#setup()} as that is
* called once, before the class is constructed, so it may need to start
* sensors. This method should not have to start anything, just reset
* sensors and ensure that motors are stopped.
*
* @return True if the fixture is ready for testing
*/
virtual bool Reset() = 0;
/**
* Performs any required teardown after use of the fixture, ensuring that
* future tests will not run into conflicts.
*
* @return True if the teardown succeeded
*/
virtual bool TearDown() = 0;
};

35
wpilibc/wpilibC++IntegrationTests/include/fixtures/TiltPanCameraFixture.h Normal file
View File

@@ -0,0 +1,35 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "WPILib.h"
#include "ITestFixture.h"
/**
* A class to represent the camera with tilt and pan servos and a gyro
*
* @author Thomas Clark
*/
class TiltPanCameraFixture : public ITestFixture {
public:
TiltPanCameraFixture(Servo *tilt, Servo *pan, Gyro *gyro);
virtual bool SetUp();
virtual bool Reset();
virtual bool TearDown();
Gyro *GetGyro();
Servo *GetTilt();
Servo *GetPan();
protected:
static const double RESET_TIME = 1.0;
Servo *m_tilt, *m_pan;
Gyro *m_gyro;
};

18
wpilibc/wpilibC++IntegrationTests/src/TestBench.cpp Normal file
View File

@@ -0,0 +1,18 @@
/*----------------------------------------------------------------------------*/
/* 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 "TestBench.h"
TiltPanCameraFixture *TestBench::GetTiltPanCamera() {
Gyro *gyro = new Gyro(1);
gyro->SetSensitivity(0.007);
Servo *tilt = new Servo(10),
*pan = new Servo(9);
return new TiltPanCameraFixture(tilt, pan, gyro);
}

39
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
View File

@@ -7,42 +7,21 @@
#include "WPILib.h"
#include "gtest/gtest.h"
#include "fixtures/TiltPanCameraFixture.h"
#include "TestBench.h"
/**
* A class to represent the camera with tilt and pan servos and a gyro
*
* @author Thomas Clark
*/
class TiltPanCameraTest : public testing::Test {
protected:
Servo *m_tilt, *m_pan;
Gyro *m_gyro;
static const double RESET_TIME = 1.0;
TiltPanCameraFixture *m_fixture;
virtual void SetUp() {
m_gyro = new Gyro(1);
m_gyro->SetSensitivity(0.007);
m_fixture = TestBench::GetTiltPanCamera();
Wait(RESET_TIME);
m_tilt = new Servo(10);
m_pan = new Servo(9);
m_fixture->SetUp();
}
virtual void TearDown() {
delete m_tilt;
delete m_pan;
delete m_gyro;
}
void Reset() {
m_tilt->SetAngle(0.0);
m_pan->SetAngle(0.0);
Wait(RESET_TIME);
m_gyro->Reset();
m_fixture->TearDown();
}
};
@@ -53,14 +32,14 @@ protected:
TEST_F(TiltPanCameraTest, GyroAngle) {
const double TEST_ANGLE = 180.0;
Reset();
m_fixture->Reset();
for(int i = 0; i < 100; i++) {
m_pan->Set(i / 100.0);
m_fixture->GetPan()->Set(i / 100.0);
Wait(0.05);
}
double gyroAngle = m_gyro->GetAngle();
double gyroAngle = m_fixture->GetGyro()->GetAngle();
double error = std::abs(TEST_ANGLE - gyroAngle);

46
wpilibc/wpilibC++IntegrationTests/src/fixtures/TiltPanCameraFixture.cpp Normal file
View File

@@ -0,0 +1,46 @@
/*----------------------------------------------------------------------------*/
/* 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 "fixtures/TiltPanCameraFixture.h"
TiltPanCameraFixture::TiltPanCameraFixture(Servo *tilt, Servo *pan, Gyro *gyro):
m_tilt(tilt),
m_pan(pan),
m_gyro(gyro) {
}
bool TiltPanCameraFixture::SetUp() {
return Reset();
}
bool TiltPanCameraFixture::Reset() {
m_tilt->Set(0.0);
m_pan->Set(0.0);
Wait(RESET_TIME);
m_gyro->Reset();
return m_pan->Get() == 0.0 and m_tilt->Get() == 0.0 and m_gyro->GetAngle() == 0.0;
}
bool TiltPanCameraFixture::TearDown() {
return Reset();
}
Gyro *TiltPanCameraFixture::GetGyro() {
return m_gyro;
}
Servo *TiltPanCameraFixture::GetTilt() {
return m_tilt;
}
Servo *TiltPanCameraFixture::GetPan() {
return m_pan;
}