| Brian Silverman | 41cdd3e | 2019-01-19 19:48:58 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "frc/Relay.h" // NOLINT(build/include_order) |
| 9 | |
| 10 | #include "TestBench.h" |
| 11 | #include "frc/DigitalInput.h" |
| 12 | #include "frc/Timer.h" |
| 13 | #include "gtest/gtest.h" |
| 14 | |
| 15 | using namespace frc; |
| 16 | |
| 17 | static const double kDelayTime = 0.01; |
| 18 | |
| 19 | class RelayTest : public testing::Test { |
| 20 | protected: |
| 21 | Relay* m_relay; |
| 22 | DigitalInput* m_forward; |
| 23 | DigitalInput* m_reverse; |
| 24 | |
| 25 | void SetUp() override { |
| 26 | m_relay = new Relay(TestBench::kRelayChannel); |
| 27 | m_forward = new DigitalInput(TestBench::kFakeRelayForward); |
| 28 | m_reverse = new DigitalInput(TestBench::kFakeRelayReverse); |
| 29 | } |
| 30 | |
| 31 | void TearDown() override { |
| 32 | delete m_relay; |
| 33 | delete m_forward; |
| 34 | delete m_reverse; |
| 35 | } |
| 36 | |
| 37 | void Reset() { m_relay->Set(Relay::kOff); } |
| 38 | }; |
| 39 | |
| 40 | /** |
| 41 | * Test the relay by setting it forward, reverse, off, and on. |
| 42 | */ |
| 43 | TEST_F(RelayTest, Relay) { |
| 44 | Reset(); |
| 45 | |
| 46 | // set the relay to forward |
| 47 | m_relay->Set(Relay::kForward); |
| 48 | Wait(kDelayTime); |
| 49 | EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward"; |
| 50 | EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward"; |
| 51 | EXPECT_EQ(m_relay->Get(), Relay::kForward); |
| 52 | |
| 53 | // set the relay to reverse |
| 54 | m_relay->Set(Relay::kReverse); |
| 55 | Wait(kDelayTime); |
| 56 | EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse"; |
| 57 | EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse"; |
| 58 | EXPECT_EQ(m_relay->Get(), Relay::kReverse); |
| 59 | |
| 60 | // set the relay to off |
| 61 | m_relay->Set(Relay::kOff); |
| 62 | Wait(kDelayTime); |
| 63 | EXPECT_FALSE(m_forward->Get()) << "Relay did not set off"; |
| 64 | EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off"; |
| 65 | EXPECT_EQ(m_relay->Get(), Relay::kOff); |
| 66 | |
| 67 | // set the relay to on |
| 68 | m_relay->Set(Relay::kOn); |
| 69 | Wait(kDelayTime); |
| 70 | EXPECT_TRUE(m_forward->Get()) << "Relay did not set on"; |
| 71 | EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on"; |
| 72 | EXPECT_EQ(m_relay->Get(), Relay::kOn); |
| 73 | |
| 74 | // test forward direction |
| 75 | delete m_relay; |
| 76 | m_relay = new Relay(TestBench::kRelayChannel, Relay::kForwardOnly); |
| 77 | |
| 78 | m_relay->Set(Relay::kOn); |
| 79 | Wait(kDelayTime); |
| 80 | EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward"; |
| 81 | EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward"; |
| 82 | EXPECT_EQ(m_relay->Get(), Relay::kOn); |
| 83 | |
| 84 | // test reverse direction |
| 85 | delete m_relay; |
| 86 | m_relay = new Relay(TestBench::kRelayChannel, Relay::kReverseOnly); |
| 87 | |
| 88 | m_relay->Set(Relay::kOn); |
| 89 | Wait(kDelayTime); |
| 90 | EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse"; |
| 91 | EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse"; |
| 92 | EXPECT_EQ(m_relay->Get(), Relay::kOn); |
| 93 | } |