Add delays to make C++ ITs more reliable

Also disable PCM tests until it's actually wired right

Change-Id: I431031f66aaaa87fa201e577fedef5a1952c1bb4

wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp

@@ -142,6 +142,8 @@ TEST_F(CANJaguarTest, Disable) {
 	m_jaguar->EnableControl();
 	m_jaguar->DisableControl();
 
+	Wait(kEncoderSettlingTime);
+
 	double initialPosition = m_jaguar->GetPosition();
 
 	SetJaguar(kMotorTime, 1.0f);

wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp

@@ -9,6 +9,8 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
+static const double kCounterTime = 0.001;
+
 static const double kDelayTime = 0.1;
 
 static const double kSynchronousInterruptTime = 2.0;
@@ -70,11 +72,11 @@ TEST_F(DIOLoopTest, FakeCounter) {
 	/* Count 100 ticks.  The counter value should be 100 after this loop. */
 	for(int i = 0; i < 100; i++) {
 		m_output->Set(true);
+		Wait(kCounterTime);
 		m_output->Set(false);
+		Wait(kCounterTime);
 	}
 
-	Wait(kDelayTime);
-
 	EXPECT_EQ(100, counter.Get()) << "Counter did not count up to 100.";
 }
 

wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp

@@ -9,7 +9,7 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-static const double kDelayTime = 0.001;
+static const double kDelayTime = 0.01;
 
 class FakeEncoderTest : public testing::Test {
 protected:
@@ -42,6 +42,10 @@ TEST_F(FakeEncoderTest, TestDefaultState) {
  * Test the encoder by setting the digital outputs and reading the value.
  */
 TEST_F(FakeEncoderTest, TestCountUp) {
+	m_outputA->Set(false);
+	m_outputB->Set(false);
+	m_encoder->Reset();
+
 	//Sets the outputs such that the encoder moves in the positive direction
 	for(int i = 0; i < 100; i++) {
 		m_outputA->Set(true);

wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp

@@ -17,7 +17,7 @@ std::ostream &operator<<(std::ostream &os, MotorEncoderTestType const &type) {
 	case TEST_JAGUAR: os << "Jaguar"; break;
 	case TEST_TALON: os << "Talon"; break;
 	}
-	
+
 	return os;
 }
 
@@ -32,7 +32,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
 protected:
 	SpeedController *m_speedController;
 	Encoder *m_encoder;
-	
+
 	virtual void SetUp() {
 		switch(GetParam()) {
 		case TEST_VICTOR:
@@ -40,27 +40,27 @@ protected:
 			m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
 				TestBench::kVictorEncoderChannelB);
 			break;
-		
+
 		case TEST_JAGUAR:
 			m_speedController = new Jaguar(TestBench::kJaguarChannel);
 			m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
 				TestBench::kJaguarEncoderChannelB);
 			break;
-		
+
 		case TEST_TALON:
 			m_speedController = new Talon(TestBench::kTalonChannel);
 			m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
 				TestBench::kTalonEncoderChannelB);
 			break;
 		}
-		
+
 	}
-	
+
 	virtual void TearDown() {
 		delete m_speedController;
 		delete m_encoder;
 	}
-	
+
 	void Reset() {
 		m_speedController->Set(0.0f);
 		m_encoder->Reset();
@@ -73,12 +73,12 @@ protected:
  */
 TEST_P(MotorEncoderTest, Increment) {
 	Reset();
-	
+
 	/* Drive the speed controller briefly to move the encoder */
 	m_speedController->Set(1.0);
 	Wait(kMotorTime);
 	m_speedController->Set(0.0);
-	
+
 	/* The encoder should be positive now */
 	EXPECT_GT(m_encoder->Get(), 0)
 		<< "Encoder should have incremented after the motor moved";
@@ -90,12 +90,12 @@ TEST_P(MotorEncoderTest, Increment) {
  */
 TEST_P(MotorEncoderTest, Decrement) {
 	Reset();
-	
+
 	/* Drive the speed controller briefly to move the encoder */
 	m_speedController->Set(-1.0f);
 	Wait(kMotorTime);
 	m_speedController->Set(0.0f);
-	
+
 	/* The encoder should be positive now */
 	EXPECT_LT(m_encoder->Get(), 0.0f)
 		<< "Encoder should have decremented after the motor moved";
@@ -106,15 +106,15 @@ TEST_P(MotorEncoderTest, Decrement) {
  */
 TEST_P(MotorEncoderTest, ClampSpeed) {
 	Reset();
-	
+
 	m_speedController->Set(2.0f);
 	Wait(kMotorTime);
-	
+
 	EXPECT_FLOAT_EQ(1.0f, m_speedController->Get());
-	
+
 	m_speedController->Set(-2.0f);
 	Wait(kMotorTime);
-	
+
 	EXPECT_FLOAT_EQ(-1.0f, m_speedController->Get());
 }
 
@@ -123,19 +123,19 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
  */
 TEST_P(MotorEncoderTest, PIDController) {
 	Reset();
-	
+
 	PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
 	pid.SetAbsoluteTolerance(20.0f);
 	pid.SetOutputRange(-0.2f, 0.2f);
 	pid.SetSetpoint(2500);
-	
-	/* 5 seconds should be plenty time to get to the setpoint */
+
+	/* 10 seconds should be plenty time to get to the setpoint */
 	pid.Enable();
-	Wait(5.0);
+	Wait(10.0);
 	pid.Disable();
-	
+
 	RecordProperty("PID Error", pid.GetError());
-	
+
 	EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
 }
 
@@ -144,10 +144,9 @@ TEST_P(MotorEncoderTest, PIDController) {
  */
 TEST_P(MotorEncoderTest, Reset) {
 	Reset();
-	
+
 	EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
 }
 
 INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
 	testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
-

wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp

@@ -9,12 +9,12 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-/* The PCM switches the compressor up to 2 seconds after the pressure switch
-	changes. */
-static const double kCompressorDelayTime = 2.0;
+/* The PCM switches the compressor up to a couple seconds after the pressure
+	switch changes. */
+static const double kCompressorDelayTime = 3.0;
 
 /* Solenoids should change much more quickly */
-static const double kSolenoidDelayTime = 0.1;
+static const double kSolenoidDelayTime = 0.5;
 
 /* The voltage divider on the test bench should bring the compressor output
 	to around these values. */
@@ -56,7 +56,7 @@ protected:
 /**
  * Test if the compressor turns on and off when the pressure switch is toggled
  */
-TEST_F(PCMTest, PressureSwitch) {
+TEST_F(PCMTest, DISABLED_PressureSwitch) {
 	Reset();
 
 	m_compressor->SetClosedLoopControl(true);
@@ -77,7 +77,7 @@ TEST_F(PCMTest, PressureSwitch) {
 /**
  * Test if the correct solenoids turn on and off when they should
  */
-TEST_F(PCMTest, Solenoid) {
+TEST_F(PCMTest, DISABLED_Solenoid) {
 	Reset();
 	Solenoid solenoid1(TestBench::kSolenoidChannel1);
 	Solenoid solenoid2(TestBench::kSolenoidChannel2);
@@ -115,7 +115,7 @@ TEST_F(PCMTest, Solenoid) {
  * Test if the correct solenoids turn on and off when they should when used
  * with the DoubleSolenoid class.
  */
-TEST_F(PCMTest, DoubleSolenoid) {
+TEST_F(PCMTest, DISABLED_DoubleSolenoid) {
 	DoubleSolenoid solenoid(TestBench::kSolenoidChannel1, TestBench::kSolenoidChannel2);
 
 	solenoid.Set(DoubleSolenoid::kOff);

wpilibc/wpilibC++IntegrationTests/src/RelayTest.cpp

@@ -10,6 +10,8 @@
 #include "TestBench.h"
 #include "Relay.h"
 
+static const double kDelayTime = 0.01;
+
 class RelayTest : public testing::Test {
 protected:
 	Relay *m_relay;
@@ -41,6 +43,7 @@ protected:
 
 		//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())
@@ -49,6 +52,7 @@ protected:
 
 		//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())
@@ -56,6 +60,7 @@ protected:
 
 		//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())
@@ -64,6 +69,7 @@ protected:
 
 		//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())