wpilibcIntegrationTests/src/RelayTest.cpp

/*----------------------------------------------------------------------------*/
/* 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 <DigitalInput.h>
#include <Relay.h>
#include <Timer.h>
#include "gtest/gtest.h"
#include "TestBench.h"
#include "Relay.h"

static const double kDelayTime = 0.01;

class RelayTest : public testing::Test {
 protected:
  Relay *m_relay;
  DigitalInput *m_forward;
  DigitalInput *m_reverse;

  virtual void SetUp() override {
    m_relay = new Relay(TestBench::kRelayChannel);
    m_forward = new DigitalInput(TestBench::kFakeRelayForward);
    m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
  }

  virtual void TearDown() override {
    delete m_relay;
    delete m_forward;
    delete m_reverse;
  }

  virtual void Reset() { m_relay->Set(Relay::kOff); }
};
/**
 * Test the relay by setting it forward, reverse, off, and on.
 */
TEST_F(RelayTest, Relay) {
  Reset();

  // set the relay to forward
  m_relay->Set(Relay::kForward);
  Wait(kDelayTime);
  EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
  EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";

  // set the relay to reverse
  m_relay->Set(Relay::kReverse);
  Wait(kDelayTime);
  EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
  EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";

  // set the relay to off
  m_relay->Set(Relay::kOff);
  Wait(kDelayTime);
  EXPECT_FALSE(m_forward->Get()) << "Relay did not set off";
  EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off";

  // set the relay to on
  m_relay->Set(Relay::kOn);
  Wait(kDelayTime);
  EXPECT_TRUE(m_forward->Get()) << "Relay did not set on";
  EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on";
}