Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibcIntegrationTests/src/AnalogLoopTest.cpp b/wpilibcIntegrationTests/src/AnalogLoopTest.cpp
new file mode 100644
index 0000000..e8bc1e5
--- /dev/null
+++ b/wpilibcIntegrationTests/src/AnalogLoopTest.cpp
@@ -0,0 +1,128 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <AnalogInput.h>
+#include <AnalogOutput.h>
+#include <AnalogTrigger.h>
+#include <Counter.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+static const double kDelayTime = 0.01;
+
+/**
+ * A fixture with an analog input and an analog output wired together
+ */
+class AnalogLoopTest : public testing::Test {
+ protected:
+ AnalogInput *m_input;
+ AnalogOutput *m_output;
+
+ virtual void SetUp() override {
+ m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel);
+ m_output = new AnalogOutput(TestBench::kAnalogOutputChannel);
+ }
+
+ virtual void TearDown() override {
+ delete m_input;
+ delete m_output;
+ }
+};
+
+/**
+ * Test analog inputs and outputs by setting one and making sure the other
+ * matches.
+ */
+TEST_F(AnalogLoopTest, AnalogInputWorks) {
+ // Set the output voltage and check if the input measures the same voltage
+ for (int i = 0; i < 50; i++) {
+ m_output->SetVoltage(i / 10.0f);
+
+ Wait(kDelayTime);
+
+ EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f);
+ }
+}
+
+/**
+ * Test if we can use an analog trigger to check if the output is within a
+ * range correctly.
+ */
+TEST_F(AnalogLoopTest, AnalogTriggerWorks) {
+ AnalogTrigger trigger(m_input);
+ trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+ m_output->SetVoltage(1.0f);
+ Wait(kDelayTime);
+
+ EXPECT_FALSE(trigger.GetInWindow())
+ << "Analog trigger is in the window (2V, 3V)";
+ EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
+
+ m_output->SetVoltage(2.5f);
+ Wait(kDelayTime);
+
+ EXPECT_TRUE(trigger.GetInWindow())
+ << "Analog trigger is not in the window (2V, 3V)";
+ EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
+
+ m_output->SetVoltage(4.0f);
+ Wait(kDelayTime);
+
+ EXPECT_FALSE(trigger.GetInWindow())
+ << "Analog trigger is in the window (2V, 3V)";
+ EXPECT_TRUE(trigger.GetTriggerState()) << "Analog trigger is not on";
+}
+
+/**
+ * Test if we can count the right number of ticks from an analog trigger with
+ * a counter.
+ */
+TEST_F(AnalogLoopTest, AnalogTriggerCounterWorks) {
+ AnalogTrigger trigger(m_input);
+ trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+ Counter counter(trigger);
+
+ // Turn the analog output low and high 50 times
+ for (int i = 0; i < 50; i++) {
+ m_output->SetVoltage(1.0);
+ Wait(kDelayTime);
+ m_output->SetVoltage(4.0);
+ Wait(kDelayTime);
+ }
+
+ // The counter should be 50
+ EXPECT_EQ(50, counter.Get())
+ << "Analog trigger counter did not count 50 ticks";
+}
+
+static void InterruptHandler(uint32_t interruptAssertedMask, void *param) {
+ *(int *)param = 12345;
+}
+
+TEST_F(AnalogLoopTest, AsynchronusInterruptWorks) {
+ int param = 0;
+ AnalogTrigger trigger(m_input);
+ trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+ // Given an interrupt handler that sets an int to 12345
+ std::shared_ptr<AnalogTriggerOutput> triggerOutput = trigger.CreateOutput(kState);
+ triggerOutput->RequestInterrupts(InterruptHandler, ¶m);
+ triggerOutput->EnableInterrupts();
+
+ // If the analog output moves from below to above the window
+ m_output->SetVoltage(0.0);
+ Wait(kDelayTime);
+ m_output->SetVoltage(5.0);
+ triggerOutput->CancelInterrupts();
+
+ // Then the int should be 12345
+ Wait(kDelayTime);
+ EXPECT_EQ(12345, param) << "The interrupt did not run.";
+}