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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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124
wpilibcIntegrationTests/src/main/native/cpp/RelayTest.cpp
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@@ -11,82 +11,62 @@
#include "frc/Timer.h"
#include "gtest/gtest.h"
using namespace frc;
static constexpr auto kDelayTime = 10_ms;
class RelayTest : public testing::Test {
protected:
Relay* m_relay;
DigitalInput* m_forward;
DigitalInput* m_reverse;
TEST(RelayTest, BothDirections) {
frc::Relay relay{TestBench::kRelayChannel};
frc::DigitalInput forward{TestBench::kFakeRelayForward};
frc::DigitalInput reverse{TestBench::kFakeRelayReverse};
void SetUp() override {
m_relay = new Relay(TestBench::kRelayChannel);
m_forward = new DigitalInput(TestBench::kFakeRelayForward);
m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
}
// Set the relay to forward
relay.Set(frc::Relay::kForward);
frc::Wait(kDelayTime);
EXPECT_TRUE(forward.Get()) << "Relay did not set forward";
EXPECT_FALSE(reverse.Get()) << "Relay did not set forward";
EXPECT_EQ(relay.Get(), frc::Relay::kForward);
void TearDown() override {
delete m_relay;
delete m_forward;
delete m_reverse;
}
// Set the relay to reverse
relay.Set(frc::Relay::kReverse);
frc::Wait(kDelayTime);
EXPECT_TRUE(reverse.Get()) << "Relay did not set reverse";
EXPECT_FALSE(forward.Get()) << "Relay did not set reverse";
EXPECT_EQ(relay.Get(), frc::Relay::kReverse);
void Reset() { m_relay->Set(Relay::kOff); }
};
// Set the relay to off
relay.Set(frc::Relay::kOff);
frc::Wait(kDelayTime);
EXPECT_FALSE(forward.Get()) << "Relay did not set off";
EXPECT_FALSE(reverse.Get()) << "Relay did not set off";
EXPECT_EQ(relay.Get(), frc::Relay::kOff);
/**
* Test the relay by setting it forward, reverse, off, and on.
*/
TEST_F(RelayTest, Relay) {
Reset();
// set the relay to forward
m_relay->Set(Relay::kForward);
Wait(kDelayTime);
EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
EXPECT_EQ(m_relay->Get(), Relay::kForward);
// set the relay to reverse
m_relay->Set(Relay::kReverse);
Wait(kDelayTime);
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
EXPECT_EQ(m_relay->Get(), Relay::kReverse);
// set the relay to off
m_relay->Set(Relay::kOff);
Wait(kDelayTime);
EXPECT_FALSE(m_forward->Get()) << "Relay did not set off";
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off";
EXPECT_EQ(m_relay->Get(), Relay::kOff);
// set the relay to on
m_relay->Set(Relay::kOn);
Wait(kDelayTime);
EXPECT_TRUE(m_forward->Get()) << "Relay did not set on";
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on";
EXPECT_EQ(m_relay->Get(), Relay::kOn);
// test forward direction
delete m_relay;
m_relay = new Relay(TestBench::kRelayChannel, Relay::kForwardOnly);
m_relay->Set(Relay::kOn);
Wait(kDelayTime);
EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
EXPECT_EQ(m_relay->Get(), Relay::kOn);
// test reverse direction
delete m_relay;
m_relay = new Relay(TestBench::kRelayChannel, Relay::kReverseOnly);
m_relay->Set(Relay::kOn);
Wait(kDelayTime);
EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
EXPECT_EQ(m_relay->Get(), Relay::kOn);
// Set the relay to on
relay.Set(frc::Relay::kOn);
frc::Wait(kDelayTime);
EXPECT_TRUE(forward.Get()) << "Relay did not set on";
EXPECT_TRUE(reverse.Get()) << "Relay did not set on";
EXPECT_EQ(relay.Get(), frc::Relay::kOn);
}
TEST(RelayTest, ForwardOnly) {
frc::Relay relay{TestBench::kRelayChannel, frc::Relay::kForwardOnly};
frc::DigitalInput forward{TestBench::kFakeRelayForward};
frc::DigitalInput reverse{TestBench::kFakeRelayReverse};
relay.Set(frc::Relay::kOn);
frc::Wait(kDelayTime);
EXPECT_TRUE(forward.Get()) << "Relay did not set forward";
EXPECT_FALSE(reverse.Get()) << "Relay did not set forward";
EXPECT_EQ(relay.Get(), frc::Relay::kOn);
}
TEST(RelayTest, ReverseOnly) {
frc::Relay relay{TestBench::kRelayChannel, frc::Relay::kReverseOnly};
frc::DigitalInput forward{TestBench::kFakeRelayForward};
frc::DigitalInput reverse{TestBench::kFakeRelayReverse};
relay.Set(frc::Relay::kOn);
frc::Wait(kDelayTime);
EXPECT_FALSE(forward.Get()) << "Relay did not set reverse";
EXPECT_TRUE(reverse.Get()) << "Relay did not set reverse";
EXPECT_EQ(relay.Get(), frc::Relay::kOn);
}