New 2018 and later build setup (#1001)

wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp

@@ -0,0 +1,176 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "Counter.h"  // NOLINT(build/include_order)
+
+#include "Jaguar.h"
+#include "Talon.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "Victor.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static const double kMotorDelay = 2.5;
+
+static const double kMaxPeriod = 2.0;
+
+class CounterTest : public testing::Test {
+ protected:
+  Counter* m_talonCounter;
+  Counter* m_victorCounter;
+  Counter* m_jaguarCounter;
+  Talon* m_talon;
+  Victor* m_victor;
+  Jaguar* m_jaguar;
+
+  void SetUp() override {
+    m_talonCounter = new Counter(TestBench::kTalonEncoderChannelA);
+    m_victorCounter = new Counter(TestBench::kVictorEncoderChannelA);
+    m_jaguarCounter = new Counter(TestBench::kJaguarEncoderChannelA);
+    m_victor = new Victor(TestBench::kVictorChannel);
+    m_talon = new Talon(TestBench::kTalonChannel);
+    m_jaguar = new Jaguar(TestBench::kJaguarChannel);
+  }
+
+  void TearDown() override {
+    delete m_talonCounter;
+    delete m_victorCounter;
+    delete m_jaguarCounter;
+    delete m_victor;
+    delete m_talon;
+    delete m_jaguar;
+  }
+
+  void Reset() {
+    m_talonCounter->Reset();
+    m_victorCounter->Reset();
+    m_jaguarCounter->Reset();
+    m_talon->Set(0.0);
+    m_victor->Set(0.0);
+    m_jaguar->Set(0.0);
+  }
+};
+
+/**
+ * Tests the counter by moving the motor and determining if the
+ * counter is counting.
+ */
+TEST_F(CounterTest, CountTalon) {
+  Reset();
+
+  /* Run the motor forward and determine if the counter is counting. */
+  m_talon->Set(1.0);
+  Wait(0.5);
+
+  EXPECT_NE(0.0, m_talonCounter->Get()) << "The counter did not count (talon)";
+
+  /* Set the motor to 0 and determine if the counter resets to 0. */
+  m_talon->Set(0.0);
+  Wait(0.5);
+  m_talonCounter->Reset();
+
+  EXPECT_FLOAT_EQ(0.0, m_talonCounter->Get())
+      << "The counter did not restart to 0 (talon)";
+}
+
+TEST_F(CounterTest, CountVictor) {
+  Reset();
+
+  /* Run the motor forward and determine if the counter is counting. */
+  m_victor->Set(1.0);
+  Wait(0.5);
+
+  EXPECT_NE(0.0, m_victorCounter->Get())
+      << "The counter did not count (victor)";
+
+  /* Set the motor to 0 and determine if the counter resets to 0. */
+  m_victor->Set(0.0);
+  Wait(0.5);
+  m_victorCounter->Reset();
+
+  EXPECT_FLOAT_EQ(0.0, m_victorCounter->Get())
+      << "The counter did not restart to 0 (jaguar)";
+}
+
+TEST_F(CounterTest, CountJaguar) {
+  Reset();
+
+  /* Run the motor forward and determine if the counter is counting. */
+  m_jaguar->Set(1.0);
+  Wait(0.5);
+
+  EXPECT_NE(0.0, m_jaguarCounter->Get())
+      << "The counter did not count (jaguar)";
+
+  /* Set the motor to 0 and determine if the counter resets to 0. */
+  m_jaguar->Set(0.0);
+  Wait(0.5);
+  m_jaguarCounter->Reset();
+
+  EXPECT_FLOAT_EQ(0.0, m_jaguarCounter->Get())
+      << "The counter did not restart to 0 (jaguar)";
+}
+
+/**
+ * Tests the GetStopped and SetMaxPeriod methods by setting the Max Period and
+ * getting the value after a period of time.
+ */
+TEST_F(CounterTest, TalonGetStopped) {
+  Reset();
+
+  /* Set the Max Period of the counter and run the motor */
+  m_talonCounter->SetMaxPeriod(kMaxPeriod);
+  m_talon->Set(1.0);
+  Wait(0.5);
+
+  EXPECT_FALSE(m_talonCounter->GetStopped()) << "The counter did not count.";
+
+  /* Stop the motor and wait until the Max Period is exceeded */
+  m_talon->Set(0.0);
+  Wait(kMotorDelay);
+
+  EXPECT_TRUE(m_talonCounter->GetStopped())
+      << "The counter did not stop counting.";
+}
+
+TEST_F(CounterTest, VictorGetStopped) {
+  Reset();
+
+  /* Set the Max Period of the counter and run the motor */
+  m_victorCounter->SetMaxPeriod(kMaxPeriod);
+  m_victor->Set(1.0);
+  Wait(0.5);
+
+  EXPECT_FALSE(m_victorCounter->GetStopped()) << "The counter did not count.";
+
+  /* Stop the motor and wait until the Max Period is exceeded */
+  m_victor->Set(0.0);
+  Wait(kMotorDelay);
+
+  EXPECT_TRUE(m_victorCounter->GetStopped())
+      << "The counter did not stop counting.";
+}
+
+TEST_F(CounterTest, JaguarGetStopped) {
+  Reset();
+
+  /* Set the Max Period of the counter and run the motor */
+  m_jaguarCounter->SetMaxPeriod(kMaxPeriod);
+  m_jaguar->Set(1.0);
+  Wait(0.5);
+
+  EXPECT_FALSE(m_jaguarCounter->GetStopped()) << "The counter did not count.";
+
+  /* Stop the motor and wait until the Max Period is exceeded */
+  m_jaguar->Set(0.0);
+  Wait(kMotorDelay);
+
+  EXPECT_TRUE(m_jaguarCounter->GetStopped())
+      << "The counter did not stop counting.";
+}