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Fix exception when getting a relay in kReverse Direction. Fixes #458 (#525)

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Add additional tests that would have caught this previously.
This commit is contained in:
sciencewhiz
2017-05-08 21:54:03 -07:00
committed by Peter Johnson
parent fc81298fac
commit f32e696fef
4 changed files with 87 additions and 22 deletions
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24
wpilibcIntegrationTests/src/RelayTest.cpp
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@@ -47,22 +47,46 @@ TEST_F(RelayTest, Relay) {
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);
}