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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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159
wpilibcIntegrationTests/src/FRCUserProgram/cpp/PCMTest.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 "AnalogInput.h"
#include "Compressor.h"
#include "DigitalInput.h"
#include "DigitalOutput.h"
#include "DoubleSolenoid.h"
#include "Solenoid.h"
#include "TestBench.h"
#include "Timer.h"
#include "gtest/gtest.h"
using namespace frc;
/* 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 = 0.5;
/* The voltage divider on the test bench should bring the compressor output
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;
DigitalOutput* m_fakePressureSwitch;
AnalogInput* m_fakeCompressor;
DoubleSolenoid* m_doubleSolenoid;
DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
void SetUp() override {
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);
}
void TearDown() override {
delete m_compressor;
delete m_fakePressureSwitch;
delete m_fakeCompressor;
delete m_fakeSolenoid1;
delete m_fakeSolenoid2;
}
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();
m_compressor->SetClosedLoopControl(true);
// Turn on the compressor
m_fakePressureSwitch->Set(true);
Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.5)
<< "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(), 0.5)
<< "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();
Solenoid solenoid1(TestBench::kSolenoidChannel1);
Solenoid solenoid2(TestBench::kSolenoidChannel2);
// 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";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read 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";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// 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";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read 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";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read 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";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kOff)
<< "Solenoid does not read 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";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kForward)
<< "Solenoid does not read forward";
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";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kReverse)
<< "Solenoid does not read reverse";
}