mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
144 lines
4.8 KiB
C++
144 lines
4.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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 <AnalogInput.h>
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#include <Compressor.h>
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#include <DigitalInput.h>
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#include <DigitalOutput.h>
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#include <DoubleSolenoid.h>
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#include <Solenoid.h>
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#include <Timer.h>
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#include "gtest/gtest.h"
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#include "TestBench.h"
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/* The PCM switches the compressor up to a couple seconds after the pressure
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switch changes. */
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static const double kCompressorDelayTime = 3.0;
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/* Solenoids should change much more quickly */
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static const double kSolenoidDelayTime = 0.5;
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/* The voltage divider on the test bench should bring the compressor output
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to around these values. */
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static const double kCompressorOnVoltage = 5.00;
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static const double kCompressorOffVoltage = 1.68;
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class PCMTest : public testing::Test {
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protected:
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Compressor *m_compressor;
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DigitalOutput *m_fakePressureSwitch;
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AnalogInput *m_fakeCompressor;
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DoubleSolenoid *m_doubleSolenoid;
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DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
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virtual void SetUp() override {
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m_compressor = new Compressor();
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m_fakePressureSwitch =
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new DigitalOutput(TestBench::kFakePressureSwitchChannel);
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m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
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m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
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m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
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}
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virtual void TearDown() override {
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delete m_compressor;
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delete m_fakePressureSwitch;
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delete m_fakeCompressor;
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delete m_fakeSolenoid1;
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delete m_fakeSolenoid2;
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}
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void Reset() {
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m_compressor->Stop();
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m_fakePressureSwitch->Set(false);
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}
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};
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/**
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* Test if the compressor turns on and off when the pressure switch is toggled
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*/
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TEST_F(PCMTest, DISABLED_PressureSwitch) {
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Reset();
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m_compressor->SetClosedLoopControl(true);
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// Turn on the compressor
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m_fakePressureSwitch->Set(true);
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Wait(kCompressorDelayTime);
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EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.1)
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<< "Compressor did not turn on when the pressure switch turned on.";
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// Turn off the compressor
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m_fakePressureSwitch->Set(false);
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Wait(kCompressorDelayTime);
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EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.1)
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<< "Compressor did not turn off when the pressure switch turned off.";
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}
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/**
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* Test if the correct solenoids turn on and off when they should
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*/
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TEST_F(PCMTest, DISABLED_Solenoid) {
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Reset();
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Solenoid solenoid1(TestBench::kSolenoidChannel1);
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Solenoid solenoid2(TestBench::kSolenoidChannel2);
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// Turn both solenoids off
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solenoid1.Set(false);
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solenoid2.Set(false);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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// Turn one solenoid on and one off
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solenoid1.Set(true);
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solenoid2.Set(false);
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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// Turn one solenoid on and one off
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solenoid1.Set(false);
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solenoid2.Set(true);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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// Turn both on
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solenoid1.Set(true);
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solenoid2.Set(true);
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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}
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/**
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* Test if the correct solenoids turn on and off when they should when used
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* with the DoubleSolenoid class.
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*/
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TEST_F(PCMTest, DISABLED_DoubleSolenoid) {
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DoubleSolenoid solenoid(TestBench::kSolenoidChannel1,
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TestBench::kSolenoidChannel2);
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solenoid.Set(DoubleSolenoid::kOff);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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solenoid.Set(DoubleSolenoid::kForward);
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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solenoid.Set(DoubleSolenoid::kReverse);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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}
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