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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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93
wpilibcIntegrationTests/src/FRCUserProgram/cpp/RelayTest.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 "Relay.h" // NOLINT(build/include_order)
#include "DigitalInput.h"
#include "TestBench.h"
#include "Timer.h"
#include "gtest/gtest.h"
using namespace frc;
static const double kDelayTime = 0.01;
class RelayTest : public testing::Test {
protected:
Relay* m_relay;
DigitalInput* m_forward;
DigitalInput* m_reverse;
void SetUp() override {
m_relay = new Relay(TestBench::kRelayChannel);
m_forward = new DigitalInput(TestBench::kFakeRelayForward);
m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
}
void TearDown() override {
delete m_relay;
delete m_forward;
delete m_reverse;
}
void Reset() { m_relay->Set(Relay::kOff); }
};
/**
* Test the relay by setting it forward, reverse, off, and on.
*/
TEST_F(RelayTest, Relay) {
Reset();
// set the relay to forward
m_relay->Set(Relay::kForward);
Wait(kDelayTime);
EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
EXPECT_EQ(m_relay->Get(), Relay::kForward);
// set the relay to reverse
m_relay->Set(Relay::kReverse);
Wait(kDelayTime);
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
EXPECT_EQ(m_relay->Get(), Relay::kReverse);
// set the relay to off
m_relay->Set(Relay::kOff);
Wait(kDelayTime);
EXPECT_FALSE(m_forward->Get()) << "Relay did not set off";
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off";
EXPECT_EQ(m_relay->Get(), Relay::kOff);
// set the relay to on
m_relay->Set(Relay::kOn);
Wait(kDelayTime);
EXPECT_TRUE(m_forward->Get()) << "Relay did not set on";
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on";
EXPECT_EQ(m_relay->Get(), Relay::kOn);
// test forward direction
delete m_relay;
m_relay = new Relay(TestBench::kRelayChannel, Relay::kForwardOnly);
m_relay->Set(Relay::kOn);
Wait(kDelayTime);
EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
EXPECT_EQ(m_relay->Get(), Relay::kOn);
// test reverse direction
delete m_relay;
m_relay = new Relay(TestBench::kRelayChannel, Relay::kReverseOnly);
m_relay->Set(Relay::kOn);
Wait(kDelayTime);
EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
EXPECT_EQ(m_relay->Get(), Relay::kOn);
}