New 2018 and later build setup (#1001)

wpilibcIntegrationTests/src/main/native/cpp/FakeEncoderTest.cpp

@@ -0,0 +1,161 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Encoder.h"  // NOLINT(build/include_order)
+
+#include "AnalogOutput.h"
+#include "AnalogTrigger.h"
+#include "DigitalOutput.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+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;
+
+  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);
+  }
+
+  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 (int32_t 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(0.0, 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(100.0, 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());
+}