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/DIOLoopTest.cpp b/wpilibcIntegrationTests/src/DIOLoopTest.cpp
new file mode 100644
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+++ b/wpilibcIntegrationTests/src/DIOLoopTest.cpp
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+/*----------------------------------------------------------------------------*/
+/* 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 <Counter.h>
+#include <DigitalInput.h>
+#include <DigitalOutput.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+static const double kCounterTime = 0.001;
+
+static const double kDelayTime = 0.1;
+
+static const double kSynchronousInterruptTime = 2.0;
+static const double kSynchronousInterruptTimeTolerance = 0.01;
+
+/**
+ * A fixture with a digital input and a digital output physically wired
+ * together.
+ */
+class DIOLoopTest : public testing::Test {
+ protected:
+ DigitalInput *m_input;
+ DigitalOutput *m_output;
+
+ virtual void SetUp() override {
+ m_input = new DigitalInput(TestBench::kLoop1InputChannel);
+ m_output = new DigitalOutput(TestBench::kLoop1OutputChannel);
+ }
+
+ virtual void TearDown() override {
+ delete m_input;
+ delete m_output;
+ }
+
+ void Reset() { m_output->Set(false); }
+};
+
+/**
+ * Test the DigitalInput and DigitalOutput classes by setting the output and
+ * reading the input.
+ */
+TEST_F(DIOLoopTest, Loop) {
+ Reset();
+
+ m_output->Set(false);
+ Wait(kDelayTime);
+ EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
+ << "the digital input is on.";
+
+ m_output->Set(true);
+ Wait(kDelayTime);
+ EXPECT_TRUE(m_input->Get()) << "The digital output was turned on, but "
+ << "the digital input is off.";
+}
+
+/**
+ * Test a fake "counter" that uses the DIO loop as an input to make sure the
+ * Counter class works
+ */
+TEST_F(DIOLoopTest, FakeCounter) {
+ Reset();
+
+ Counter counter(m_input);
+
+ EXPECT_EQ(0, counter.Get()) << "Counter did not initialize to 0.";
+
+ /* Count 100 ticks. The counter value should be 100 after this loop. */
+ for (int i = 0; i < 100; i++) {
+ m_output->Set(true);
+ Wait(kCounterTime);
+ m_output->Set(false);
+ Wait(kCounterTime);
+ }
+
+ EXPECT_EQ(100, counter.Get()) << "Counter did not count up to 100.";
+}
+
+static void InterruptHandler(uint32_t interruptAssertedMask, void *param) {
+ *(int *)param = 12345;
+}
+
+TEST_F(DIOLoopTest, AsynchronousInterruptWorks) {
+ int param = 0;
+
+ // Given an interrupt handler that sets an int to 12345
+ m_input->RequestInterrupts(InterruptHandler, ¶m);
+ m_input->EnableInterrupts();
+
+ // If the voltage rises
+ m_output->Set(false);
+ m_output->Set(true);
+ m_input->CancelInterrupts();
+
+ // Then the int should be 12345
+ Wait(kDelayTime);
+ EXPECT_EQ(12345, param) << "The interrupt did not run.";
+}
+
+static void *InterruptTriggerer(void *data) {
+ DigitalOutput *output = static_cast<DigitalOutput *>(data);
+ output->Set(false);
+ Wait(kSynchronousInterruptTime);
+ output->Set(true);
+ return nullptr;
+}
+
+TEST_F(DIOLoopTest, SynchronousInterruptWorks) {
+ // Given a synchronous interrupt
+ m_input->RequestInterrupts();
+
+ // If we have another thread trigger the interrupt in a few seconds
+ pthread_t interruptTriggererLoop;
+ pthread_create(&interruptTriggererLoop, nullptr, InterruptTriggerer, m_output);
+
+ // Then this thread should pause and resume after that number of seconds
+ Timer timer;
+ timer.Start();
+ m_input->WaitForInterrupt(kSynchronousInterruptTime + 1.0);
+ EXPECT_NEAR(kSynchronousInterruptTime, timer.Get(),
+ kSynchronousInterruptTimeTolerance);
+}