From 386dc1f16b7abab4957cfa21cc6eeddfac447b57 Mon Sep 17 00:00:00 2001
From: Thomas Clark <tjclark@wpi.edu>
Date: Tue, 29 Jul 2014 16:36:36 -0400
Subject: [PATCH] Added AnalogTrigger tests

Change-Id: I60c3e576e100632635278e80743975daf238e904
---
 .../src/AnalogLoopTest.cpp                    | 91 ++++++++++++++-----
 1 file changed, 67 insertions(+), 24 deletions(-)

diff --git a/wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp
index ed297ec4ff..03bf30b8ef 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp
@@ -9,44 +9,87 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-static const double kDelayTime = 0.05;
+static const double kDelayTime = 0.01;
 
 /**
  * A fixture with an analog input and an analog output wired together
  */
 class AnalogLoopTest : public testing::Test {
 protected:
-    AnalogInput *m_input;
-    AnalogOutput *m_output;
+	AnalogInput *m_input;
+	AnalogOutput *m_output;
 
-    virtual void SetUp() {
-        m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel);
-        m_output = new AnalogOutput(TestBench::kAnalogOutputChannel);
-    }
+	virtual void SetUp() {
+		m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel);
+		m_output = new AnalogOutput(TestBench::kAnalogOutputChannel);
+	}
 
-    virtual void TearDown() {
-        delete m_input;
-        delete m_output;
-    }
-
-    void Reset() {
-        m_output->SetVoltage(0.0f);
-    }
+	virtual void TearDown() {
+		delete m_input;
+		delete m_output;
+	}
 };
 
 /**
  * Test analog inputs and outputs by setting one and making sure the other
  * matches.
  */
-TEST_F(AnalogLoopTest, Loop) {
-    Reset();
+TEST_F(AnalogLoopTest, AnalogInputWorks) {
+	// Set the output voltage and check if the input measures the same voltage
+	for(int i = 0; i < 50; i++) {
+		m_output->SetVoltage(i / 10.0f);
 
-    // Set the output voltage and check if the input measures the same voltage
-    for(int i = 0; i < 50; i++) {
-        m_output->SetVoltage(i / 10.0f);
+		Wait(kDelayTime);
 
-        Wait(kDelayTime);
-
-        EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f);
-    }
+		EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f);
+	}
+}
+
+/**
+ * Test if we can use an analog trigger to  check if the output is within a
+ * range correctly.
+ */
+TEST_F(AnalogLoopTest, AnalogTriggerWorks) {
+	AnalogTrigger trigger(m_input);
+	trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+	m_output->SetVoltage(1.0f);
+	Wait(kDelayTime);
+
+	EXPECT_FALSE(trigger.GetInWindow()) << "Analog trigger is in the window (2V, 3V)";
+	EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
+
+	m_output->SetVoltage(2.5f);
+	Wait(kDelayTime);
+
+	EXPECT_TRUE(trigger.GetInWindow()) << "Analog trigger is not in the window (2V, 3V)";
+	EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
+
+	m_output->SetVoltage(4.0f);
+	Wait(kDelayTime);
+
+	EXPECT_FALSE(trigger.GetInWindow()) << "Analog trigger is in the window (2V, 3V)";
+	EXPECT_TRUE(trigger.GetTriggerState()) << "Analog trigger is not on";
+}
+
+/**
+ * Test if we can count the right number of ticks from an analog trigger with
+ * a counter.
+ */
+TEST_F(AnalogLoopTest, AnalogTriggerCounterWorks) {
+	AnalogTrigger trigger(m_input);
+	trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+	Counter counter(trigger);
+
+	// Turn the analog output low and high 50 times
+	for(int i = 0; i < 50; i++) {
+		m_output->SetVoltage(1.0);
+		Wait(kDelayTime);
+		m_output->SetVoltage(4.0);
+		Wait(kDelayTime);
+	}
+
+	// The counter should be 50
+	EXPECT_EQ(50, counter.Get()) << "Analog trigger counter did not count 100 ticks";
 }