Fixed DoubleSolenoid, added a double solenoid test

Change-Id: I161337c8b528be7662650889d6ab7bcd2bbe2704

Fixed double solenoid, added a C++ test

Change-Id: Ib0821155efce85be87d354fc8e197fcc4deabd7c

wpilibc/wpilibC++/lib/DoubleSolenoid.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
@@ -50,8 +50,8 @@ void DoubleSolenoid::InitSolenoid()
 		return;
 	}
 
-	m_forwardMask = 1 << (m_forwardChannel - 1);
-	m_reverseMask = 1 << (m_reverseChannel - 1);
+	m_forwardMask = 1 << m_forwardChannel;
+	m_reverseMask = 1 << m_reverseChannel;
 
 	HALReport(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel, m_moduleNumber);
 	HALReport(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber);

wpilibc/wpilibC++/lib/Solenoid.cpp

@@ -28,7 +28,7 @@ void Solenoid::InitSolenoid()
 		wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
 		return;
 	}
-	Resource::CreateResourceObject(&m_allocated, solenoid_kNumDO7_0Elements * kSolenoidChannels);
+	Resource::CreateResourceObject(&m_allocated, kSolenoidChannels * 63);
 
 	snprintf(buf, 64, "Solenoid %d (Module: %d)", m_channel, m_moduleNumber);
 	if (m_allocated->Allocate(m_moduleNumber * kSolenoidChannels + m_channel, buf) == ~0ul)

wpilibc/wpilibC++IntegrationTests/include/TestBench.h

@@ -59,4 +59,8 @@ public:
 	static const uint32_t kJaguarPDPChannel = 6;
 	static const uint32_t kVictorPDPChannel = 8;
 	static const uint32_t kTalonPDPChannel = 11;
+
+	/* PCM channels */
+	static const int32_t kSolenoidChannel1 = 7;
+	static const int32_t kSolenoidChannel2 = 6;
 };

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

@@ -10,110 +10,126 @@
 #include "TestBench.h"
 
 /* The PCM switches the compressor up to 2 seconds after the pressure switch
-  changes. */
+	changes. */
 static const double kCompressorDelayTime = 2.0;
 
 /* Solenoids should change much more quickly */
 static const double kSolenoidDelayTime = 0.1;
 
 /* The voltage divider on the test bench should bring the compressor output
-  to around these values. */
+	to around these values. */
 static const double kCompressorOnVoltage = 5.00;
 static const double kCompressorOffVoltage = 1.68;
 
 class PCMTest : public testing::Test {
 protected:
-  Compressor *m_compressor;
+	Compressor *m_compressor;
 
-  DigitalOutput *m_fakePressureSwitch;
-  AnalogInput *m_fakeCompressor;
+	DigitalOutput *m_fakePressureSwitch;
+	AnalogInput *m_fakeCompressor;
+	DoubleSolenoid *m_doubleSolenoid;
+	DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
 
-  Solenoid *m_solenoid1, *m_solenoid2;
-  DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
+	virtual void SetUp() {
+		m_compressor = new Compressor();
 
-  virtual void SetUp() {
-    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);
+	}
 
-    m_fakePressureSwitch = new DigitalOutput(TestBench::kFakePressureSwitchChannel);
-    m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
+	virtual void TearDown() {
+		delete m_compressor;
+		delete m_fakePressureSwitch;
+		delete m_fakeCompressor;
+		delete m_fakeSolenoid1;
+		delete m_fakeSolenoid2;
+	}
 
-    m_solenoid1 = new Solenoid(7);
-    m_solenoid2 = new Solenoid(6);
-
-    m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
-    m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
-  }
-
-  virtual void TearDown() {
-    delete m_compressor;
-    delete m_fakePressureSwitch;
-    delete m_fakeCompressor;
-    delete m_solenoid1;
-    delete m_solenoid2;
-    delete m_fakeSolenoid1;
-    delete m_fakeSolenoid2;
-  }
-
-  void Reset() {
-    m_compressor->Stop();
-    m_fakePressureSwitch->Set(false);
-    m_solenoid1->Set(false);
-    m_solenoid2->Set(false);
-  }
+	void Reset() {
+		m_compressor->Stop();
+		m_fakePressureSwitch->Set(false);
+	}
 };
 
 /**
  * Test if the compressor turns on and off when the pressure switch is toggled
  */
 TEST_F(PCMTest, PressureSwitch) {
-  Reset();
+	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(), 0.1)
-    << "Compressor did not turn on when the pressure switch turned on.";
+	// Turn on the compressor
+	m_fakePressureSwitch->Set(true);
+	Wait(kCompressorDelayTime);
+	EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.1)
+		<< "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(), 0.1)
-    << "Compressor did not turn off when the pressure switch turned off.";
+	// Turn off the compressor
+	m_fakePressureSwitch->Set(false);
+	Wait(kCompressorDelayTime);
+	EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.1)
+		<< "Compressor did not turn off when the pressure switch turned off.";
 }
 
 /**
  * Test if the correct solenoids turn on and off when they should
  */
 TEST_F(PCMTest, Solenoid) {
-  Reset();
+	Reset();
+	Solenoid solenoid1(TestBench::kSolenoidChannel1);
+	Solenoid solenoid2(TestBench::kSolenoidChannel2);
 
-  // Turn both solenoids off
-  m_solenoid1->Set(false);
-  m_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";
+	// 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";
 
-  // Turn one solenoid on and one off
-  m_solenoid1->Set(true);
-  m_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";
+	// 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";
 
-  // Turn one solenoid on and one off
-  m_solenoid1->Set(false);
-  m_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";
+	// 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";
 
-  // Turn both on
-  m_solenoid1->Set(true);
-  m_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";
+	// 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";
+}
+
+/**
+ * Test if the correct solenoids turn on and off when they should when used
+ * with the DoubleSolenoid class.
+ */
+TEST_F(PCMTest, DoubleSolenoid) {
+	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";
+
+	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";
+
+	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";
 }