mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
68 lines
2.0 KiB
C++
68 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 "gtest/gtest.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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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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virtual 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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virtual 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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virtual 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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