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[wpilibc] Clean up integration tests (#3400)

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The command and shuffleboard integration tests were removed because
their unit tests counterparts already provide adequate coverage. Java
already removed these.
This commit is contained in:
Tyler Veness
2021-05-31 10:21:34 -07:00
committed by GitHub
parent 4f7a4464df
commit 93523d572e
38 changed files with 662 additions and 2232 deletions
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103
wpilibcIntegrationTests/src/main/native/cpp/FakeEncoderTest.cpp
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@@ -13,41 +13,24 @@
#include "frc/Timer.h"
#include "gtest/gtest.h"
using namespace frc;
static constexpr auto kDelayTime = 1_ms;
class FakeEncoderTest : public testing::Test {
protected:
DigitalOutput* m_outputA;
DigitalOutput* m_outputB;
AnalogOutput* m_indexOutput;
frc::DigitalOutput m_outputA{TestBench::kLoop2OutputChannel};
frc::DigitalOutput m_outputB{TestBench::kLoop1OutputChannel};
frc::AnalogOutput m_indexOutput{TestBench::kAnalogOutputChannel};
Encoder* m_encoder;
AnalogTrigger* m_indexAnalogTrigger;
std::shared_ptr<AnalogTriggerOutput> m_indexAnalogTriggerOutput;
frc::Encoder m_encoder{TestBench::kLoop1InputChannel,
TestBench::kLoop2InputChannel};
frc::AnalogTrigger m_indexAnalogTrigger{TestBench::kFakeAnalogOutputChannel};
std::shared_ptr<frc::AnalogTriggerOutput> m_indexAnalogTriggerOutput =
m_indexAnalogTrigger.CreateOutput(frc::AnalogTriggerType::kState);
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;
FakeEncoderTest() {
m_outputA.Set(false);
m_outputB.Set(false);
m_indexAnalogTrigger.SetLimitsVoltage(2.0, 3.0);
}
/**
@@ -56,25 +39,25 @@ class FakeEncoderTest : public testing::Test {
*/
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);
m_outputA.Set(true);
frc::Wait(kDelayTime);
m_outputB.Set(true);
frc::Wait(kDelayTime);
m_outputA.Set(false);
frc::Wait(kDelayTime);
m_outputB.Set(false);
frc::Wait(kDelayTime);
}
}
void SetIndexHigh() {
m_indexOutput->SetVoltage(5.0);
Wait(kDelayTime);
m_indexOutput.SetVoltage(5.0);
frc::Wait(kDelayTime);
}
void SetIndexLow() {
m_indexOutput->SetVoltage(0.0);
Wait(kDelayTime);
m_indexOutput.SetVoltage(0.0);
frc::Wait(kDelayTime);
}
};
@@ -82,79 +65,79 @@ class FakeEncoderTest : public testing::Test {
* 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.";
EXPECT_DOUBLE_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();
m_encoder.Reset();
Simulate100QuadratureTicks();
EXPECT_FLOAT_EQ(100.0, m_encoder->Get()) << "Encoder did not count to 100.";
EXPECT_DOUBLE_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);
m_encoder.SetIndexSource(*m_indexAnalogTriggerOutput,
frc::Encoder::IndexingType::kResetWhileHigh);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
EXPECT_EQ(0, m_encoder.Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
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);
m_encoder.SetIndexSource(*m_indexAnalogTriggerOutput,
frc::Encoder::IndexingType::kResetOnRisingEdge);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
EXPECT_EQ(0, m_encoder.Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
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);
m_encoder.SetIndexSource(*m_indexAnalogTriggerOutput,
frc::Encoder::IndexingType::kResetWhileLow);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
EXPECT_EQ(0, m_encoder.Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
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);
m_encoder.SetIndexSource(*m_indexAnalogTriggerOutput,
frc::Encoder::IndexingType::kResetOnFallingEdge);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
EXPECT_EQ(0, m_encoder.Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
EXPECT_EQ(100, m_encoder.Get());
}