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[wpilibc] Add more unit tests (#3494)

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This commit is contained in:
PJ Reiniger
2021-08-05 22:04:51 -04:00
committed by GitHub
parent b253246959
commit 94e0db7963
30 changed files with 2588 additions and 89 deletions
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76
wpilibc/src/test/native/cpp/DoubleSolenoidTest.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <hal/HAL.h>
#include "frc/DoubleSolenoid.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/Solenoid.h"
#include "gtest/gtest.h"
namespace frc {
TEST(DoubleSolenoidTest, ValidInitialization) {
PneumaticsControlModule pcm{3};
DoubleSolenoid solenoid{pcm, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
solenoid.Set(DoubleSolenoid::kForward);
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Set(DoubleSolenoid::kOff);
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidTest, ThrowForwardPortAlreadyInitialized) {
PneumaticsControlModule pcm{5};
// Single solenoid that is reused for forward port
Solenoid solenoid{pcm, 2};
EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
}
TEST(DoubleSolenoidTest, ThrowReversePortAlreadyInitialized) {
PneumaticsControlModule pcm{6};
// Single solenoid that is reused for forward port
Solenoid solenoid{pcm, 3};
EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
}
TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(pcm, 2);
Solenoid solenoid1(pcm, 3);
EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
}
TEST(DoubleSolenoidTest, Toggle) {
PneumaticsControlModule pcm{4};
DoubleSolenoid solenoid{&pcm, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
// Of shouldn't do anything on toggle
solenoid.Set(DoubleSolenoid::kOff);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidTest, InvalidForwardPort) {
PneumaticsControlModule pcm{0};
EXPECT_THROW(DoubleSolenoid(pcm, 100, 1), std::runtime_error);
}
TEST(DoubleSolenoidTest, InvalidReversePort) {
PneumaticsControlModule pcm{0};
EXPECT_THROW(DoubleSolenoid(pcm, 0, 100), std::runtime_error);
}
} // namespace frc