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Merge "Fixes CounterTest for C++"

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This commit is contained in:
Brad Miller (WPI)
2014-07-01 13:01:10 -07:00
committed by Gerrit Code Review
parent f0fb3023ad 1d33edffee
commit ff8016c088
1 changed files with 132 additions and 74 deletions
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206
wpilibc/wpilibC++IntegrationTests/src/CounterTest.cpp
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@@ -9,89 +9,147 @@
#include "gtest/gtest.h"
#include "TestBench.h"
enum CounterTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
static const double kMotorDelay = 2.5;
std::ostream &operator<<(std::ostream &os, CounterTestType const &type) {
switch(type) {
case TEST_VICTOR: os << "Victor"; break;
case TEST_JAGUAR: os << "Jaguar"; break;
case TEST_TALON: os << "Talon"; break;
}
static const double kMaxPeriod = 2.0;
return os;
}
class CounterTest : public testing::Test {
protected:
Counter *m_talonCounter;
Counter *m_victorCounter;
Counter *m_jaguarCounter;
Talon *m_talon;
Victor *m_victor;
Jaguar *m_jaguar;
static constexpr double kMotorTime = 0.5;
virtual void SetUp() {
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);
}
virtual void TearDown() {
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(0.0f);
m_victor->Set(0.0f);
m_jaguar->Set(0.0f);
}
};
/**
* Tests the counter by moving the motor and determining if the
* counter is counting.
* counter is counting.
*/
TEST_F(CounterTest, CountTalon) {
Reset();
m_talonCounter->Start();
/* Run the motor forward and determine if the counter is counting. */
m_talon->Set(1.0f);
Wait(0.5);
EXPECT_NE(0.0f, 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(0.0f);
Wait(0.5);
m_talonCounter->Reset();
EXPECT_FLOAT_EQ(0.0f, m_talonCounter->Get())
<< "The counter did not restart to 0 (talon)";
}
class CounterTest : public testing::TestWithParam<CounterTestType> {
protected:
SpeedController *m_speedController;
Counter *m_counter;
virtual void SetUp() {
switch(GetParam()) {
case TEST_VICTOR:
m_counter = new Counter(TestBench::kVictorEncoderChannelA);
m_speedController = new Victor(TestBench::kVictorChannel);
break;
case TEST_JAGUAR:
m_counter = new Counter(TestBench::kJaguarEncoderChannelA);
m_speedController = new Jaguar(TestBench::kJaguarChannel);
break;
case TEST_TALON:
m_counter = new Counter(TestBench::kTalonEncoderChannelA);
m_speedController = new Talon(TestBench::kTalonChannel);
break;
}
}
virtual void TearDown() {
delete m_counter;
delete m_speedController;
}
void Reset() {
m_counter->Reset();
m_speedController->Set(0.0f);
}
};
/**
* Test resetting a counter
*/
TEST_P(CounterTest, Reset) {
Reset();
EXPECT_FLOAT_EQ(0.0f, m_counter->Get()) << "Counter did not restart to 0.";
}
/**
* Test the counter by running the motor forward and determining if
* the counter value has changed.
*/
TEST_P(CounterTest, Count) {
Reset();
m_counter->Start();
/*Run the motor forward and determine if the counter is counting. */
m_speedController->Set(1.0f);
Wait(kMotorTime);
m_speedController->Set(0.0f);
EXPECT_NE(0.0f, m_counter->Get()) << "Counter did not count.";
}
INSTANTIATE_TEST_CASE_P(Test, CounterTest,
testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
TEST_F(CounterTest, CountVictor) {
Reset();
m_victorCounter->Start();
/* Run the motor forward and determine if the counter is counting. */
m_victor->Set(1.0f);
Wait(0.5);
EXPECT_NE(0.0f, 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(0.0f);
Wait(0.5);
m_victorCounter->Reset();
EXPECT_FLOAT_EQ(0.0f, m_victorCounter->Get())
<< "The counter did not restart to 0 (jaguar)";
}
TEST_F(CounterTest, CountJaguar) {
Reset();
m_jaguarCounter->Start();
/* Run the motor forward and determine if the counter is counting. */
m_jaguar->Set(1.0f);
Wait(0.5);
EXPECT_NE(0.0f, 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(0.0f);
Wait(0.5);
m_jaguarCounter->Reset();
EXPECT_FLOAT_EQ(0.0f, 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();
m_talonCounter->Start();
/* Set the Max Period of the counter and run the motor */
m_talonCounter->SetMaxPeriod(kMaxPeriod);
m_talon->Set(1.0f);
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(0.0f);
Wait(kMotorDelay);
EXPECT_TRUE(m_talonCounter->GetStopped())
<< "The counter did not stop counting.";
}
TEST_F(CounterTest, VictorGetStopped) {
Reset();
m_victorCounter->Start();
/* Set the Max Period of the counter and run the motor */
m_victorCounter->SetMaxPeriod(kMaxPeriod);
m_victor->Set(1.0f);
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(0.0f);
Wait(kMotorDelay);
EXPECT_TRUE(m_victorCounter->GetStopped())
<< "The counter did not stop counting.";
}
TEST_F(CounterTest, JaguarGetStopped) {
Reset();
m_jaguarCounter->Start();
/* Set the Max Period of the counter and run the motor */
m_jaguarCounter->SetMaxPeriod(kMaxPeriod);
m_jaguar->Set(1.0f);
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(0.0f);
Wait(kMotorDelay);
EXPECT_TRUE(m_jaguarCounter->GetStopped())
<< "The counter did not stop counting.";
}