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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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187
wpilibcIntegrationTests/src/FRCUserProgram/cpp/DIOLoopTest.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 "DigitalInput.h" // NOLINT(build/include_order)
#include "DigitalOutput.h" // NOLINT(build/include_order)
#include "Counter.h"
#include "InterruptableSensorBase.h"
#include "TestBench.h"
#include "Timer.h"
#include "gtest/gtest.h"
using namespace frc;
static const double kCounterTime = 0.001;
static const double kDelayTime = 0.1;
static const double kSynchronousInterruptTime = 2.0;
static const double kSynchronousInterruptTimeTolerance = 0.01;
/**
* A fixture with a digital input and a digital output physically wired
* together.
*/
class DIOLoopTest : public testing::Test {
protected:
DigitalInput* m_input;
DigitalOutput* m_output;
void SetUp() override {
m_input = new DigitalInput(TestBench::kLoop1InputChannel);
m_output = new DigitalOutput(TestBench::kLoop1OutputChannel);
}
void TearDown() override {
delete m_input;
delete m_output;
}
void Reset() { m_output->Set(false); }
};
/**
* Test the DigitalInput and DigitalOutput classes by setting the output and
* reading the input.
*/
TEST_F(DIOLoopTest, Loop) {
Reset();
m_output->Set(false);
Wait(kDelayTime);
EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
<< "the digital input is on.";
m_output->Set(true);
Wait(kDelayTime);
EXPECT_TRUE(m_input->Get()) << "The digital output was turned on, but "
<< "the digital input is off.";
}
/**
* Tests to see if the DIO PWM functionality works.
*/
TEST_F(DIOLoopTest, DIOPWM) {
Reset();
m_output->Set(false);
Wait(kDelayTime);
EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
<< "the digital input is on.";
// Set frequency to 2.0 Hz
m_output->SetPWMRate(2.0);
// Enable PWM, but leave it off
m_output->EnablePWM(0.0);
Wait(0.5);
m_output->UpdateDutyCycle(0.5);
m_input->RequestInterrupts();
m_input->SetUpSourceEdge(false, true);
InterruptableSensorBase::WaitResult result =
m_input->WaitForInterrupt(3.0, true);
Wait(0.5);
bool firstCycle = m_input->Get();
Wait(0.5);
bool secondCycle = m_input->Get();
Wait(0.5);
bool thirdCycle = m_input->Get();
Wait(0.5);
bool forthCycle = m_input->Get();
Wait(0.5);
bool fifthCycle = m_input->Get();
Wait(0.5);
bool sixthCycle = m_input->Get();
Wait(0.5);
bool seventhCycle = m_input->Get();
m_output->DisablePWM();
Wait(0.5);
bool firstAfterStop = m_input->Get();
Wait(0.5);
bool secondAfterStop = m_input->Get();
EXPECT_EQ(InterruptableSensorBase::WaitResult::kFallingEdge, result)
<< "WaitForInterrupt was not falling.";
EXPECT_FALSE(firstCycle) << "Input not low after first delay";
EXPECT_TRUE(secondCycle) << "Input not high after second delay";
EXPECT_FALSE(thirdCycle) << "Input not low after third delay";
EXPECT_TRUE(forthCycle) << "Input not high after forth delay";
EXPECT_FALSE(fifthCycle) << "Input not low after fifth delay";
EXPECT_TRUE(sixthCycle) << "Input not high after sixth delay";
EXPECT_FALSE(seventhCycle) << "Input not low after seventh delay";
EXPECT_FALSE(firstAfterStop) << "Input not low after stopping first read";
EXPECT_FALSE(secondAfterStop) << "Input not low after stopping second read";
}
/**
* Test a fake "counter" that uses the DIO loop as an input to make sure the
* Counter class works
*/
TEST_F(DIOLoopTest, FakeCounter) {
Reset();
Counter counter(m_input);
EXPECT_EQ(0, counter.Get()) << "Counter did not initialize to 0.";
/* Count 100 ticks. The counter value should be 100 after this loop. */
for (int32_t i = 0; i < 100; i++) {
m_output->Set(true);
Wait(kCounterTime);
m_output->Set(false);
Wait(kCounterTime);
}
EXPECT_EQ(100, counter.Get()) << "Counter did not count up to 100.";
}
static void InterruptHandler(uint32_t interruptAssertedMask, void* param) {
*reinterpret_cast<int32_t*>(param) = 12345;
}
TEST_F(DIOLoopTest, AsynchronousInterruptWorks) {
int32_t param = 0;
// Given an interrupt handler that sets an int32_t to 12345
m_input->RequestInterrupts(InterruptHandler, &param);
m_input->EnableInterrupts();
// If the voltage rises
m_output->Set(false);
m_output->Set(true);
m_input->CancelInterrupts();
// Then the int32_t should be 12345
Wait(kDelayTime);
EXPECT_EQ(12345, param) << "The interrupt did not run.";
}
static void* InterruptTriggerer(void* data) {
DigitalOutput* output = static_cast<DigitalOutput*>(data);
output->Set(false);
Wait(kSynchronousInterruptTime);
output->Set(true);
return nullptr;
}
TEST_F(DIOLoopTest, SynchronousInterruptWorks) {
// Given a synchronous interrupt
m_input->RequestInterrupts();
// If we have another thread trigger the interrupt in a few seconds
pthread_t interruptTriggererLoop;
pthread_create(&interruptTriggererLoop, nullptr, InterruptTriggerer,
m_output);
// 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);
}