WPILib Reorganization

This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.

The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.

Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878

wpilibcIntegrationTests/src/FakeEncoderTest.cpp

@@ -0,0 +1,159 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <AnalogOutput.h>
+#include <AnalogTrigger.h>
+#include <DigitalOutput.h>
+#include <Encoder.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+static const double kDelayTime = 0.001;
+
+class FakeEncoderTest : public testing::Test {
+ protected:
+  DigitalOutput *m_outputA;
+  DigitalOutput *m_outputB;
+  AnalogOutput *m_indexOutput;
+
+  Encoder *m_encoder;
+  AnalogTrigger *m_indexAnalogTrigger;
+  std::shared_ptr<AnalogTriggerOutput> m_indexAnalogTriggerOutput;
+
+  virtual void SetUp() override {
+    m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
+    m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
+    m_indexOutput = new AnalogOutput(TestBench::kAnalogOutputChannel);
+    m_outputA->Set(false);
+    m_outputB->Set(false);
+    m_encoder = new Encoder(TestBench::kLoop1InputChannel,
+                            TestBench::kLoop2InputChannel);
+    m_indexAnalogTrigger =
+        new AnalogTrigger(TestBench::kFakeAnalogOutputChannel);
+    m_indexAnalogTrigger->SetLimitsVoltage(2.0, 3.0);
+    m_indexAnalogTriggerOutput =
+        m_indexAnalogTrigger->CreateOutput(AnalogTriggerType::kState);
+  }
+
+  virtual void TearDown() override {
+    delete m_outputA;
+    delete m_outputB;
+    delete m_indexOutput;
+    delete m_encoder;
+    delete m_indexAnalogTrigger;
+  }
+
+  /**
+   * Output pulses to the encoder's input channels to simulate a change of 100
+   * ticks
+   */
+  void Simulate100QuadratureTicks() {
+    for (int i = 0; i < 100; i++) {
+      m_outputA->Set(true);
+      Wait(kDelayTime);
+      m_outputB->Set(true);
+      Wait(kDelayTime);
+      m_outputA->Set(false);
+      Wait(kDelayTime);
+      m_outputB->Set(false);
+      Wait(kDelayTime);
+    }
+  }
+
+  void SetIndexHigh() {
+    m_indexOutput->SetVoltage(5.0);
+    Wait(kDelayTime);
+  }
+
+  void SetIndexLow() {
+    m_indexOutput->SetVoltage(0.0);
+    Wait(kDelayTime);
+  }
+};
+
+/**
+ * Test the encoder by reseting it to 0 and reading the value.
+ */
+TEST_F(FakeEncoderTest, TestDefaultState) {
+  EXPECT_FLOAT_EQ(0.0f, m_encoder->Get()) << "The encoder did not start at 0.";
+}
+
+/**
+ * Test the encoder by setting the digital outputs and reading the value.
+ */
+TEST_F(FakeEncoderTest, TestCountUp) {
+  m_encoder->Reset();
+  Simulate100QuadratureTicks();
+
+  EXPECT_FLOAT_EQ(100.0f, m_encoder->Get()) << "Encoder did not count to 100.";
+}
+
+/**
+ * Test that the encoder can stay reset while the index source is high
+ */
+TEST_F(FakeEncoderTest, TestResetWhileHigh) {
+  m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
+                            Encoder::IndexingType::kResetWhileHigh);
+
+  SetIndexLow();
+  Simulate100QuadratureTicks();
+  SetIndexHigh();
+  EXPECT_EQ(0, m_encoder->Get());
+
+  Simulate100QuadratureTicks();
+  EXPECT_EQ(0, m_encoder->Get());
+}
+
+/**
+ * Test that the encoder can reset when the index source goes from low to high
+ */
+TEST_F(FakeEncoderTest, TestResetOnRisingEdge) {
+  m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
+                            Encoder::IndexingType::kResetOnRisingEdge);
+
+  SetIndexLow();
+  Simulate100QuadratureTicks();
+  SetIndexHigh();
+  EXPECT_EQ(0, m_encoder->Get());
+
+  Simulate100QuadratureTicks();
+  EXPECT_EQ(100, m_encoder->Get());
+}
+
+/**
+ * Test that the encoder can stay reset while the index source is low
+ */
+TEST_F(FakeEncoderTest, TestResetWhileLow) {
+  m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
+                            Encoder::IndexingType::kResetWhileLow);
+
+  SetIndexHigh();
+  Simulate100QuadratureTicks();
+  SetIndexLow();
+  EXPECT_EQ(0, m_encoder->Get());
+
+  Simulate100QuadratureTicks();
+  EXPECT_EQ(0, m_encoder->Get());
+}
+
+/**
+ * Test that the encoder can reset when the index source goes from high to low
+ */
+TEST_F(FakeEncoderTest, TestResetOnFallingEdge) {
+  m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
+                            Encoder::IndexingType::kResetOnFallingEdge);
+
+  SetIndexHigh();
+  Simulate100QuadratureTicks();
+  SetIndexLow();
+  EXPECT_EQ(0, m_encoder->Get());
+
+  Simulate100QuadratureTicks();
+  EXPECT_EQ(100, m_encoder->Get());
+}