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05626cfafe
* Fixed cpplint.py [build/include_order] and [build/include_what_you_use] warnings * Fixed cpplint.py [readability/casting] warnings * Updated .styleguide format * Fixed cpplint.py [build/header_guard] warnings
67 lines
2.0 KiB
C++
67 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Relay.h"
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#include "DigitalInput.h"
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#include "TestBench.h"
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#include "Timer.h"
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#include "gtest/gtest.h"
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static const double kDelayTime = 0.01;
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class RelayTest : public testing::Test {
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protected:
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Relay* m_relay;
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DigitalInput* m_forward;
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DigitalInput* m_reverse;
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void SetUp() override {
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m_relay = new Relay(TestBench::kRelayChannel);
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m_forward = new DigitalInput(TestBench::kFakeRelayForward);
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m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
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}
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void TearDown() override {
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delete m_relay;
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delete m_forward;
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delete m_reverse;
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}
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void Reset() { m_relay->Set(Relay::kOff); }
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};
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/**
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* Test the relay by setting it forward, reverse, off, and on.
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*/
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TEST_F(RelayTest, Relay) {
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Reset();
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// set the relay to forward
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m_relay->Set(Relay::kForward);
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Wait(kDelayTime);
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EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
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EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
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// set the relay to reverse
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m_relay->Set(Relay::kReverse);
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Wait(kDelayTime);
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EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
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EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
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// set the relay to off
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m_relay->Set(Relay::kOff);
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Wait(kDelayTime);
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EXPECT_FALSE(m_forward->Get()) << "Relay did not set off";
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EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off";
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// set the relay to on
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m_relay->Set(Relay::kOn);
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Wait(kDelayTime);
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EXPECT_TRUE(m_forward->Get()) << "Relay did not set on";
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EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on";
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}
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