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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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175
wpilibcIntegrationTests/src/main/native/cpp/PCMTest.cpp
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@@ -12,8 +12,6 @@
#include "frc/Timer.h"
#include "gtest/gtest.h"
using namespace frc;
/* The PCM switches the compressor up to a couple seconds after the pressure
switch changes. */
static constexpr auto kCompressorDelayTime = 3_s;
@@ -28,34 +26,17 @@ static const double kCompressorOffVoltage = 1.68;
class PCMTest : public testing::Test {
protected:
Compressor* m_compressor;
frc::Compressor m_compressor;
DigitalOutput* m_fakePressureSwitch;
AnalogInput* m_fakeCompressor;
DoubleSolenoid* m_doubleSolenoid;
DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
void SetUp() override {
m_compressor = new Compressor();
m_fakePressureSwitch =
new DigitalOutput(TestBench::kFakePressureSwitchChannel);
m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
}
void TearDown() override {
delete m_compressor;
delete m_fakePressureSwitch;
delete m_fakeCompressor;
delete m_fakeSolenoid1;
delete m_fakeSolenoid2;
}
frc::DigitalOutput m_fakePressureSwitch{
TestBench::kFakePressureSwitchChannel};
frc::AnalogInput m_fakeCompressor{TestBench::kFakeCompressorChannel};
frc::DigitalInput m_fakeSolenoid1{TestBench::kFakeSolenoid1Channel};
frc::DigitalInput m_fakeSolenoid2{TestBench::kFakeSolenoid2Channel};
void Reset() {
m_compressor->Stop();
m_fakePressureSwitch->Set(false);
m_compressor.Stop();
m_fakePressureSwitch.Set(false);
}
};
@@ -65,18 +46,18 @@ class PCMTest : public testing::Test {
TEST_F(PCMTest, PressureSwitch) {
Reset();
m_compressor->SetClosedLoopControl(true);
m_compressor.SetClosedLoopControl(true);
// Turn on the compressor
m_fakePressureSwitch->Set(true);
Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.5)
m_fakePressureSwitch.Set(true);
frc::Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor.GetVoltage(), 0.5)
<< "Compressor did not turn on when the pressure switch turned on.";
// Turn off the compressor
m_fakePressureSwitch->Set(false);
Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.5)
m_fakePressureSwitch.Set(false);
frc::Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor.GetVoltage(), 0.5)
<< "Compressor did not turn off when the pressure switch turned off.";
}
@@ -85,42 +66,42 @@ TEST_F(PCMTest, PressureSwitch) {
*/
TEST_F(PCMTest, Solenoid) {
Reset();
Solenoid solenoid1(TestBench::kSolenoidChannel1);
Solenoid solenoid2(TestBench::kSolenoidChannel2);
frc::Solenoid solenoid1{TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{TestBench::kSolenoidChannel2};
// Turn both solenoids off
solenoid1.Set(false);
solenoid2.Set(false);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Turn one solenoid on and one off
solenoid1.Set(true);
solenoid2.Set(false);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Turn one solenoid on and one off
solenoid1.Set(false);
solenoid2.Set(true);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
frc::Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn on";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
// Turn both on
solenoid1.Set(true);
solenoid2.Set(true);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
frc::Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
}
@@ -130,42 +111,42 @@ TEST_F(PCMTest, Solenoid) {
* with the DoubleSolenoid class.
*/
TEST_F(PCMTest, DoubleSolenoid) {
DoubleSolenoid solenoid(TestBench::kSolenoidChannel1,
TestBench::kSolenoidChannel2);
frc::DoubleSolenoid solenoid{TestBench::kSolenoidChannel1,
TestBench::kSolenoidChannel2};
solenoid.Set(DoubleSolenoid::kOff);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kOff)
solenoid.Set(frc::DoubleSolenoid::kOff);
frc::Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == frc::DoubleSolenoid::kOff)
<< "Solenoid does not read off";
solenoid.Set(DoubleSolenoid::kForward);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kForward)
solenoid.Set(frc::DoubleSolenoid::kForward);
frc::Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == frc::DoubleSolenoid::kForward)
<< "Solenoid does not read forward";
solenoid.Set(DoubleSolenoid::kReverse);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kReverse)
solenoid.Set(frc::DoubleSolenoid::kReverse);
frc::Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid.Get() == frc::DoubleSolenoid::kReverse)
<< "Solenoid does not read reverse";
}
TEST_F(PCMTest, OneShot) {
Reset();
Solenoid solenoid1(TestBench::kSolenoidChannel1);
Solenoid solenoid2(TestBench::kSolenoidChannel2);
frc::Solenoid solenoid1{TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{TestBench::kSolenoidChannel2};
// Turn both solenoids off
solenoid1.Set(false);
solenoid2.Set(false);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
@@ -173,14 +154,14 @@ TEST_F(PCMTest, OneShot) {
solenoid1.SetPulseDuration(2 * kSolenoidDelayTime);
solenoid2.Set(false);
solenoid1.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
@@ -188,14 +169,14 @@ TEST_F(PCMTest, OneShot) {
solenoid1.Set(false);
solenoid2.SetPulseDuration(2 * kSolenoidDelayTime);
solenoid2.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
frc::Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn on";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
@@ -204,14 +185,14 @@ TEST_F(PCMTest, OneShot) {
solenoid2.SetPulseDuration(2 * kSolenoidDelayTime);
solenoid1.StartPulse();
solenoid2.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
frc::Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
@@ -220,19 +201,19 @@ TEST_F(PCMTest, OneShot) {
solenoid2.SetPulseDuration(2.5 * kSolenoidDelayTime);
solenoid1.StartPulse();
solenoid2.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
frc::Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
frc::Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn on";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
frc::Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1.Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2.Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
}