allwpilib/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.wpilibj;

import java.util.Collection;
import java.util.logging.Logger;

import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;

import edu.wpi.first.wpilibj.fixtures.FakeEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;

import static org.junit.Assert.assertTrue;


/**
 * Test to see if the FPGA properly recognizes a mock Encoder input.
 */
@RunWith(Parameterized.class)
public class EncoderTest extends AbstractComsSetup {
  private static final Logger logger = Logger.getLogger(EncoderTest.class.getName());
  private static FakeEncoderFixture encoder = null;

  private final boolean m_flip; // Does this test need to flip the inputs
  private final int m_inputA;
  private final int m_inputB;
  private final int m_outputA;
  private final int m_outputB;

  @Override
  protected Logger getClassLogger() {
    return logger;
  }

  /**
   * Test data generator. This method is called the the JUnit parametrized test runner and returns
   * a Collection of Arrays. For each Array in the Collection, each array element corresponds to a
   * parameter in the constructor.
   */
  @Parameters
  public static Collection<Integer[]> generateData() {
    return TestBench.getInstance().getEncoderDIOCrossConnectCollection();
  }

  /**
   * Constructs a parametrized Encoder Test.
   *
   * @param inputA  The port number for inputA
   * @param outputA The port number for outputA
   * @param inputB  The port number for inputB
   * @param outputB The port number for outputB
   * @param flip    whether or not these set of values require the encoder to be reversed (0 or 1)
   */
  public EncoderTest(int inputA, int outputA, int inputB, int outputB, int flip) {
    m_inputA = inputA;
    m_inputB = inputB;
    m_outputA = outputA;
    m_outputB = outputB;

    // If the encoder from a previous test is allocated then we must free its
    // members
    if (encoder != null) {
      encoder.teardown();
    }
    m_flip = flip == 0;
    encoder = new FakeEncoderFixture(inputA, outputA, inputB, outputB);
  }

  @AfterClass
  public static void tearDownAfterClass() {
    encoder.teardown();
    encoder = null;
  }

  /**
   * Sets up the test and verifies that the test was reset to the default state.
   */
  @Before
  public void setUp() {
    encoder.setup();
    testDefaultState();
  }

  @After
  public void tearDown() {
    encoder.reset();
  }

  /**
   * Tests to see if Encoders initialize to zero.
   */
  @Test
  public void testDefaultState() {
    int value = encoder.getEncoder().get();
    assertTrue(errorMessage(0, value), value == 0);
  }

  /**
   * Tests to see if Encoders can count up successfully.
   */
  @Test
  public void testCountUp() {
    int goal = 100;
    encoder.getFakeEncoderSource().setCount(goal);
    encoder.getFakeEncoderSource().setForward(m_flip);
    encoder.getFakeEncoderSource().execute();
    int value = encoder.getEncoder().get();
    assertTrue(errorMessage(goal, value), value == goal);

  }

  /**
   * Tests to see if Encoders can count down successfully.
   */
  @Test
  public void testCountDown() {
    int goal = -100;
    encoder.getFakeEncoderSource().setCount(goal); // Goal has to be positive
    encoder.getFakeEncoderSource().setForward(!m_flip);
    encoder.getFakeEncoderSource().execute();
    int value = encoder.getEncoder().get();
    assertTrue(errorMessage(goal, value), value == goal);

  }

  /**
   * Creates a simple message with the error that was encountered for the Encoders.
   *
   * @param goal      The goal that was trying to be reached
   * @param trueValue The actual value that was reached by the test
   * @return A fully constructed message with data about where and why the the test failed.
   */
  private String errorMessage(int goal, int trueValue) {
    return "Encoder ({In,Out}): {" + m_inputA + ", " + m_outputA + "},{" + m_inputB + ", "
        + m_outputB + "} Returned: " + trueValue + ", Wanted: " + goal;
  }
}