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[wpilibc] Transition C++ classes to units::second_t (#3396)

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A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This commit is contained in:
Tyler Veness
2021-05-28 22:06:59 -07:00
committed by GitHub
parent 827b17a52b
commit e09293a15e
99 changed files with 503 additions and 790 deletions
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42
wpilibcIntegrationTests/src/main/native/cpp/DIOLoopTest.cpp
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@@ -6,20 +6,26 @@
#include "frc/DigitalOutput.h" // NOLINT(build/include_order)
#include <units/math.h>
#include <units/time.h>
#include "TestBench.h"
#include "frc/Counter.h"
#include "frc/InterruptableSensorBase.h"
#include "frc/Timer.h"
#include "gtest/gtest.h"
#define EXPECT_NEAR_UNITS(val1, val2, eps) \
EXPECT_LE(units::math::abs(val1 - val2), eps)
using namespace frc;
static const double kCounterTime = 0.001;
static constexpr auto kCounterTime = 1_ms;
static const double kDelayTime = 0.1;
static constexpr auto kDelayTime = 100_ms;
static const double kSynchronousInterruptTime = 2.0;
static const double kSynchronousInterruptTimeTolerance = 0.01;
static constexpr auto kSynchronousInterruptTime = 2_s;
static constexpr auto kSynchronousInterruptTimeTolerance = 10_ms;
/**
* A fixture with a digital input and a digital output physically wired
@@ -75,31 +81,31 @@ TEST_F(DIOLoopTest, DIOPWM) {
m_output->SetPWMRate(2.0);
// Enable PWM, but leave it off
m_output->EnablePWM(0.0);
Wait(0.5);
Wait(0.5_s);
m_output->UpdateDutyCycle(0.5);
m_input->RequestInterrupts();
m_input->SetUpSourceEdge(false, true);
InterruptableSensorBase::WaitResult result =
m_input->WaitForInterrupt(3.0, true);
m_input->WaitForInterrupt(3_s, true);
Wait(0.5);
Wait(0.5_s);
bool firstCycle = m_input->Get();
Wait(0.5);
Wait(0.5_s);
bool secondCycle = m_input->Get();
Wait(0.5);
Wait(0.5_s);
bool thirdCycle = m_input->Get();
Wait(0.5);
Wait(0.5_s);
bool forthCycle = m_input->Get();
Wait(0.5);
Wait(0.5_s);
bool fifthCycle = m_input->Get();
Wait(0.5);
Wait(0.5_s);
bool sixthCycle = m_input->Get();
Wait(0.5);
Wait(0.5_s);
bool seventhCycle = m_input->Get();
m_output->DisablePWM();
Wait(0.5);
Wait(0.5_s);
bool firstAfterStop = m_input->Get();
Wait(0.5);
Wait(0.5_s);
bool secondAfterStop = m_input->Get();
EXPECT_EQ(InterruptableSensorBase::WaitResult::kFallingEdge, result)
@@ -179,7 +185,7 @@ TEST_F(DIOLoopTest, SynchronousInterruptWorks) {
// Then this thread should pause and resume after that number of seconds
Timer timer;
timer.Start();
m_input->WaitForInterrupt(kSynchronousInterruptTime + 1.0);
EXPECT_NEAR(kSynchronousInterruptTime, timer.Get(),
kSynchronousInterruptTimeTolerance);
m_input->WaitForInterrupt(kSynchronousInterruptTime + 1_s);
EXPECT_NEAR_UNITS(kSynchronousInterruptTime, timer.Get(),
kSynchronousInterruptTimeTolerance);
}