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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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176
wpilibcIntegrationTests/src/FRCUserProgram/cpp/CounterTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Counter.h" // NOLINT(build/include_order)
#include "Jaguar.h"
#include "Talon.h"
#include "TestBench.h"
#include "Timer.h"
#include "Victor.h"
#include "gtest/gtest.h"
using namespace frc;
static const double kMotorDelay = 2.5;
static const double kMaxPeriod = 2.0;
class CounterTest : public testing::Test {
protected:
Counter* m_talonCounter;
Counter* m_victorCounter;
Counter* m_jaguarCounter;
Talon* m_talon;
Victor* m_victor;
Jaguar* m_jaguar;
void SetUp() override {
m_talonCounter = new Counter(TestBench::kTalonEncoderChannelA);
m_victorCounter = new Counter(TestBench::kVictorEncoderChannelA);
m_jaguarCounter = new Counter(TestBench::kJaguarEncoderChannelA);
m_victor = new Victor(TestBench::kVictorChannel);
m_talon = new Talon(TestBench::kTalonChannel);
m_jaguar = new Jaguar(TestBench::kJaguarChannel);
}
void TearDown() override {
delete m_talonCounter;
delete m_victorCounter;
delete m_jaguarCounter;
delete m_victor;
delete m_talon;
delete m_jaguar;
}
void Reset() {
m_talonCounter->Reset();
m_victorCounter->Reset();
m_jaguarCounter->Reset();
m_talon->Set(0.0);
m_victor->Set(0.0);
m_jaguar->Set(0.0);
}
};
/**
* Tests the counter by moving the motor and determining if the
* counter is counting.
*/
TEST_F(CounterTest, CountTalon) {
Reset();
/* Run the motor forward and determine if the counter is counting. */
m_talon->Set(1.0);
Wait(0.5);
EXPECT_NE(0.0, m_talonCounter->Get()) << "The counter did not count (talon)";
/* Set the motor to 0 and determine if the counter resets to 0. */
m_talon->Set(0.0);
Wait(0.5);
m_talonCounter->Reset();
EXPECT_FLOAT_EQ(0.0, m_talonCounter->Get())
<< "The counter did not restart to 0 (talon)";
}
TEST_F(CounterTest, CountVictor) {
Reset();
/* Run the motor forward and determine if the counter is counting. */
m_victor->Set(1.0);
Wait(0.5);
EXPECT_NE(0.0, m_victorCounter->Get())
<< "The counter did not count (victor)";
/* Set the motor to 0 and determine if the counter resets to 0. */
m_victor->Set(0.0);
Wait(0.5);
m_victorCounter->Reset();
EXPECT_FLOAT_EQ(0.0, m_victorCounter->Get())
<< "The counter did not restart to 0 (jaguar)";
}
TEST_F(CounterTest, CountJaguar) {
Reset();
/* Run the motor forward and determine if the counter is counting. */
m_jaguar->Set(1.0);
Wait(0.5);
EXPECT_NE(0.0, m_jaguarCounter->Get())
<< "The counter did not count (jaguar)";
/* Set the motor to 0 and determine if the counter resets to 0. */
m_jaguar->Set(0.0);
Wait(0.5);
m_jaguarCounter->Reset();
EXPECT_FLOAT_EQ(0.0, m_jaguarCounter->Get())
<< "The counter did not restart to 0 (jaguar)";
}
/**
* Tests the GetStopped and SetMaxPeriod methods by setting the Max Period and
* getting the value after a period of time.
*/
TEST_F(CounterTest, TalonGetStopped) {
Reset();
/* Set the Max Period of the counter and run the motor */
m_talonCounter->SetMaxPeriod(kMaxPeriod);
m_talon->Set(1.0);
Wait(0.5);
EXPECT_FALSE(m_talonCounter->GetStopped()) << "The counter did not count.";
/* Stop the motor and wait until the Max Period is exceeded */
m_talon->Set(0.0);
Wait(kMotorDelay);
EXPECT_TRUE(m_talonCounter->GetStopped())
<< "The counter did not stop counting.";
}
TEST_F(CounterTest, VictorGetStopped) {
Reset();
/* Set the Max Period of the counter and run the motor */
m_victorCounter->SetMaxPeriod(kMaxPeriod);
m_victor->Set(1.0);
Wait(0.5);
EXPECT_FALSE(m_victorCounter->GetStopped()) << "The counter did not count.";
/* Stop the motor and wait until the Max Period is exceeded */
m_victor->Set(0.0);
Wait(kMotorDelay);
EXPECT_TRUE(m_victorCounter->GetStopped())
<< "The counter did not stop counting.";
}
TEST_F(CounterTest, JaguarGetStopped) {
Reset();
/* Set the Max Period of the counter and run the motor */
m_jaguarCounter->SetMaxPeriod(kMaxPeriod);
m_jaguar->Set(1.0);
Wait(0.5);
EXPECT_FALSE(m_jaguarCounter->GetStopped()) << "The counter did not count.";
/* Stop the motor and wait until the Max Period is exceeded */
m_jaguar->Set(0.0);
Wait(kMotorDelay);
EXPECT_TRUE(m_jaguarCounter->GetStopped())
<< "The counter did not stop counting.";
}