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https://github.com/wpilibsuite/allwpilib
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77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <hal/HAL.h>
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#include "frc/DoubleSolenoid.h"
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#include "frc/PneumaticsControlModule.h"
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#include "frc/Solenoid.h"
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#include "gtest/gtest.h"
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namespace frc {
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TEST(DoubleSolenoidTest, ValidInitialization) {
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PneumaticsControlModule pcm{3};
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DoubleSolenoid solenoid{pcm, 2, 3};
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solenoid.Set(DoubleSolenoid::kReverse);
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EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
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solenoid.Set(DoubleSolenoid::kForward);
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EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
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solenoid.Set(DoubleSolenoid::kOff);
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EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
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}
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TEST(DoubleSolenoidTest, ThrowForwardPortAlreadyInitialized) {
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PneumaticsControlModule pcm{5};
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// Single solenoid that is reused for forward port
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Solenoid solenoid{pcm, 2};
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EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
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}
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TEST(DoubleSolenoidTest, ThrowReversePortAlreadyInitialized) {
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PneumaticsControlModule pcm{6};
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// Single solenoid that is reused for forward port
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Solenoid solenoid{pcm, 3};
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EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
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}
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TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
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PneumaticsControlModule pcm{6};
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// Single solenoid that is reused for forward port
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Solenoid solenoid0(pcm, 2);
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Solenoid solenoid1(pcm, 3);
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EXPECT_THROW(DoubleSolenoid(pcm, 2, 3), std::runtime_error);
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}
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TEST(DoubleSolenoidTest, Toggle) {
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PneumaticsControlModule pcm{4};
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DoubleSolenoid solenoid{&pcm, 2, 3};
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// Bootstrap it into reverse
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solenoid.Set(DoubleSolenoid::kReverse);
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solenoid.Toggle();
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EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
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solenoid.Toggle();
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EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
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// Of shouldn't do anything on toggle
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solenoid.Set(DoubleSolenoid::kOff);
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solenoid.Toggle();
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EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
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}
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TEST(DoubleSolenoidTest, InvalidForwardPort) {
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PneumaticsControlModule pcm{0};
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EXPECT_THROW(DoubleSolenoid(pcm, 100, 1), std::runtime_error);
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}
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TEST(DoubleSolenoidTest, InvalidReversePort) {
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PneumaticsControlModule pcm{0};
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EXPECT_THROW(DoubleSolenoid(pcm, 0, 100), std::runtime_error);
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}
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} // namespace frc
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