[wpimath] Move debouncer to filters (#3838)

wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java

@@ -0,0 +1,70 @@
+// 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.
+
+package edu.wpi.first.math.filter;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.util.WPIUtilJNI;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class DebouncerTest {
+  @BeforeEach
+  void setUp() {
+    WPIUtilJNI.enableMockTime();
+    WPIUtilJNI.setMockTime(0L);
+  }
+
+  @AfterEach
+  void tearDown() {
+    WPIUtilJNI.setMockTime(0L);
+    WPIUtilJNI.disableMockTime();
+  }
+
+  @Test
+  void debounceRisingTest() {
+    var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kRising);
+
+    debouncer.calculate(false);
+    assertFalse(debouncer.calculate(true));
+
+    WPIUtilJNI.setMockTime(1000000L);
+
+    assertTrue(debouncer.calculate(true));
+  }
+
+  @Test
+  void debounceFallingTest() {
+    var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kFalling);
+
+    debouncer.calculate(true);
+    assertTrue(debouncer.calculate(false));
+
+    WPIUtilJNI.setMockTime(1000000L);
+
+    assertFalse(debouncer.calculate(false));
+
+    WPIUtilJNI.setMockTime(0L);
+  }
+
+  @Test
+  void debounceBothTest() {
+    var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kBoth);
+
+    debouncer.calculate(false);
+    assertFalse(debouncer.calculate(true));
+
+    WPIUtilJNI.setMockTime(1000000L);
+
+    assertTrue(debouncer.calculate(true));
+    assertTrue(debouncer.calculate(false));
+
+    WPIUtilJNI.setMockTime(2000000L);
+
+    assertFalse(debouncer.calculate(false));
+  }
+}

wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java

@@ -8,28 +8,34 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.util.WPIUtilJNI;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 
 class SlewRateLimiterTest {
+  @BeforeEach
+  void setUp() {
+    WPIUtilJNI.enableMockTime();
+    WPIUtilJNI.setMockTime(0L);
+  }
+
+  @AfterEach
+  void tearDown() {
+    WPIUtilJNI.setMockTime(0L);
+    WPIUtilJNI.disableMockTime();
+  }
+
   @Test
   void slewRateLimitTest() {
-    WPIUtilJNI.enableMockTime();
-
     var limiter = new SlewRateLimiter(1);
     WPIUtilJNI.setMockTime(1000000L);
     assertTrue(limiter.calculate(2) < 2);
-
-    WPIUtilJNI.setMockTime(0L);
   }
 
   @Test
   void slewRateNoLimitTest() {
-    WPIUtilJNI.enableMockTime();
-
     var limiter = new SlewRateLimiter(1);
     WPIUtilJNI.setMockTime(1000000L);
     assertEquals(limiter.calculate(0.5), 0.5);
-
-    WPIUtilJNI.setMockTime(0L);
   }
 }

wpimath/src/test/native/cpp/filter/DebouncerTest.cpp

@@ -0,0 +1,58 @@
+// 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 <wpi/timestamp.h>
+
+#include "frc/filter/Debouncer.h"
+#include "gtest/gtest.h"
+#include "units/time.h"
+
+static units::second_t now = 0_s;
+
+class DebouncerTest : public ::testing::Test {
+ protected:
+  void SetUp() override {
+    WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
+  }
+
+  void TearDown() override { WPI_SetNowImpl(nullptr); }
+};
+
+TEST_F(DebouncerTest, DebounceRising) {
+  frc::Debouncer debouncer{20_ms};
+
+  debouncer.Calculate(false);
+  EXPECT_FALSE(debouncer.Calculate(true));
+
+  now += 1_s;
+
+  EXPECT_TRUE(debouncer.Calculate(true));
+}
+
+TEST_F(DebouncerTest, DebounceFalling) {
+  frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kFalling};
+
+  debouncer.Calculate(true);
+  EXPECT_TRUE(debouncer.Calculate(false));
+
+  now += 1_s;
+
+  EXPECT_FALSE(debouncer.Calculate(false));
+}
+
+TEST_F(DebouncerTest, DebounceBoth) {
+  frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kBoth};
+
+  debouncer.Calculate(false);
+  EXPECT_FALSE(debouncer.Calculate(true));
+
+  now += 1_s;
+
+  EXPECT_TRUE(debouncer.Calculate(true));
+  EXPECT_TRUE(debouncer.Calculate(false));
+
+  now += 1_s;
+
+  EXPECT_FALSE(debouncer.Calculate(false));
+}

wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp

@@ -12,7 +12,16 @@
 
 static units::second_t now = 0_s;
 
-TEST(SlewRateLimiterTest, SlewRateLimit) {
+class SlewRateLimiterTest : public ::testing::Test {
+ protected:
+  void SetUp() override {
+    WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
+  }
+
+  void TearDown() override { WPI_SetNowImpl(nullptr); }
+};
+
+TEST_F(SlewRateLimiterTest, SlewRateLimit) {
   WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
 
   frc::SlewRateLimiter<units::meters> limiter(1_mps);
@@ -22,9 +31,7 @@ TEST(SlewRateLimiterTest, SlewRateLimit) {
   EXPECT_LT(limiter.Calculate(2_m), 2_m);
 }
 
-TEST(SlewRateLimiterTest, SlewRateNoLimit) {
-  WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
-
+TEST_F(SlewRateLimiterTest, SlewRateNoLimit) {
   frc::SlewRateLimiter<units::meters> limiter(1_mps);
 
   now += 1_s;