Add C++ Counter Test

Added a PCM java test and a Counter C++ test

Add RelayTest for C++, fixed spelling error in Relay.cpp

Change-Id: I436ac34449d00e8dcd1b988758cc24e80534a2c7

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

@@ -0,0 +1,150 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.*;
+
+import java.util.concurrent.Delayed;
+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.test.AbstractComsSetup;
+
+/**
+ * @author Kacper Puczydlowski
+ *
+ */
+
+public class PCMTest extends AbstractComsSetup {
+	private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
+	/* The PCM switches the compressor up to 2 seconds after the pressure switch
+	changes. */
+	protected static final double kCompressorDelayTime = 2.0;
+
+	/* Solenoids should change much more quickly */
+	protected static final double kSolenoidDelayTime = 0.1;
+
+	/* The voltage divider on the test bench should bring the compressor output
+	to around these values. */
+	protected static final double kCompressorOnVoltage = 5.00;
+	protected static final double kCompressorOffVoltage = 1.68;
+
+	private static Compressor compressor;
+
+	private static  DigitalOutput fakePressureSwitch;
+	private static AnalogInput fakeCompressor;
+
+	private static  Solenoid solenoid1, solenoid2;
+	private static  DigitalInput fakeSolenoid1, fakeSolenoid2;
+
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+	    compressor = new Compressor();
+
+	    fakePressureSwitch = new DigitalOutput(11);
+	    fakeCompressor = new AnalogInput(1);
+
+	    solenoid1 = new Solenoid(1);
+	    solenoid2 = new Solenoid(2);
+
+	    fakeSolenoid1 = new DigitalInput(12);
+	    fakeSolenoid2 = new DigitalInput(13);
+	}
+
+	@AfterClass
+	public static void tearDownAfterClass() throws Exception {
+		compressor.free();
+
+		fakePressureSwitch.free();
+		fakeCompressor.free();
+
+		solenoid1.free();
+		solenoid2.free();
+
+		fakeSolenoid1.free();
+		fakeSolenoid2.free();
+	}
+
+	@Before
+	public void setUp() throws Exception {
+	}
+
+	@Before
+	public void reset() throws Exception {
+		compressor.stop();
+	    fakePressureSwitch.set(false);
+	    solenoid1.set(false);
+	    solenoid2.set(false);
+	}
+
+	@After
+	public void tearDown() throws Exception {
+	}
+
+	/**
+	 * Test if the compressor turns on and off when the pressure switch is toggled
+	 */
+	@Test
+	public void testPressureSwitch() throws Exception {
+		double range = 0.1;
+		reset();
+		compressor.setClosedLoopControl(true);
+
+		  // Turn on the compressor
+		  fakePressureSwitch.set(true);
+		  Timer.delay(kCompressorDelayTime);
+		  assertEquals("Compressor did not turn on when the pressure switch turned on.",
+				  kCompressorOnVoltage, fakeCompressor.getVoltage(), range);
+	}
+
+	/**
+	 * Test if the correct solenoids turn on and off when they should
+	 */
+	@Test
+	public void testSolenoid() throws Exception {
+		reset();
+
+		solenoid1.set(false);
+		solenoid2.set(false);
+
+		Timer.delay(kSolenoidDelayTime);
+
+		assertTrue("Solenoid did not turn off.",solenoid1.get());
+		assertTrue("Solenoid did not turn off.",solenoid2.get());
+
+		// Turn Solenoid #1 on, and turn Solenoid #2 off
+		solenoid1.set(true);
+		solenoid2.set(false);
+		Timer.delay(kSolenoidDelayTime);
+		assertFalse("Solenoid #1 did not turn on",fakeSolenoid1.get());
+		assertTrue("Solenoid #2 did not turn off",fakeSolenoid2.get());
+
+		// Turn Solenoid #1 off, and turn Solenoid #2 on
+		solenoid1.set(false);
+		solenoid2.set(true);
+		Timer.delay(kSolenoidDelayTime);
+		assertTrue("Solenoid #1 did not turn off",fakeSolenoid1.get());
+		assertFalse("Solenoid #2 did not turn on",fakeSolenoid2.get());
+
+		// Turn both Solenoids on
+		solenoid1.set(true);
+		solenoid2.set(true);
+		Timer.delay(kSolenoidDelayTime);
+		assertFalse("Solenoid #1 did not turn on",fakeSolenoid1.get());
+		assertFalse("Solenoid #2 did not turn on",fakeSolenoid2.get());
+	}
+
+	protected Logger getClassLogger(){
+		return logger;
+	}
+}

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

@@ -22,6 +22,7 @@ import org.junit.runners.Suite.SuiteClasses;
 				EncoderTest.class,
 				MotorEncoderTest.class,
 				PIDTest.class,
+				PCMTest.class,
 				PrefrencesTest.class,
 				RelayCrossConnectTest.class,
 				SampleTest.class,

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

@@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj.CounterTest;
 import edu.wpi.first.wpilibj.DIOCrossConnectTest;
 import edu.wpi.first.wpilibj.EncoderTest;
 import edu.wpi.first.wpilibj.MotorEncoderTest;
+import edu.wpi.first.wpilibj.PCMTest;
 import edu.wpi.first.wpilibj.PIDTest;
 import edu.wpi.first.wpilibj.PrefrencesTest;
 import edu.wpi.first.wpilibj.RelayCrossConnectTest;
@@ -46,7 +47,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTestSuite;
  * suite classes annotation.
  */
 @RunWith(Suite.class)
-@SuiteClasses({ 
+@SuiteClasses({
 				WpiLibJTestSuite.class,
 				CommandTestSuite.class,
 				SmartDashboardTestSuite.class
@@ -67,7 +68,7 @@ public class TestSuite {
 		    Logger.getAnonymousLogger().severe("Could not load default logging.properties file");
 		    Logger.getAnonymousLogger().severe(e.getMessage());
 		}
-		
+
 		System.out.println("Starting Tests");
 	}
 	private static final Logger WPILIBJ_ROOT_LOGGER = Logger.getLogger("edu.wpi.first.wpilibj");