wpilib/tests/test_counter.py

@@ -1,4 +1,11 @@
 import pytest
+from unittest.mock import MagicMock
+
+
+@pytest.fixture(scope="function")
+def counter_table(networktables):
+    return networktables.NetworkTables.getTable("dacounter")
+
 
 def check_init(hal_data, mode, up, down, up_edge, down_edge, trigger_up=False, trigger_down=False):
     assert hal_data["counter"][0]["initialized"]
@@ -12,67 +19,98 @@ def check_init(hal_data, mode, up, down, up_edge, down_edge, trigger_up=False, t
     assert hal_data["counter"][0]["down_rising_edge"] == down_edge[0]
     assert hal_data["counter"][0]["down_falling_edge"] == down_edge[1]
 
+
 def test_counter_init_1(wpilib, hal_data):
     ctr = wpilib.Counter()
     check_init(hal_data, 0, 0, 0, (False, False), (False, False))
 
+
 def test_counter_init_2(wpilib, hal_data):
     di = wpilib.DigitalInput(5)
     ctr = wpilib.Counter(di)
     check_init(hal_data, 0, 5, 0, (True, False), (False, False))
 
+
 def test_counter_init_3(wpilib, hal_data):
     ctr = wpilib.Counter(6)
     check_init(hal_data, 0, 6, 0, (True, False), (False, False))
+    assert hal_data['dio'][6]['initialized'] == True
+    assert hal_data['dio'][6]['is_input'] == True
+
 
 def test_counter_init_4(wpilib, hal_data):
     us = wpilib.DigitalInput(3)
     ds = wpilib.DigitalInput(4)
     ctr = wpilib.Counter(wpilib.Counter.EncodingType.k1X, us, ds, True)
     check_init(hal_data, 3, 3, 4, (True, False), (True, True))
 
+
 def test_counter_init_5(wpilib, hal_data):
     at = wpilib.AnalogTrigger(2)
     ctr = wpilib.Counter(at)
     #Analog triggers get their channel ids from their index, not their analog port.
     check_init(hal_data, 0, 0, 0, (True, False), (False, False), True)
 
+
 def test_counter_set_up_channel(wpilib, hal_data):
     ctr = wpilib.Counter()
     ctr.setUpSource(2)
     check_init(hal_data, 0, 2, 0, (True, False), (False, False))
+    assert hal_data['dio'][2]['initialized'] == True
+    assert hal_data['dio'][2]['is_input'] == True
+
 
 def test_counter_set_up_source(wpilib, hal_data):
     src = wpilib.DigitalInput(3)
     ctr = wpilib.Counter()
     ctr.setUpSource(src)
     check_init(hal_data, 0, 3, 0, (True, False), (False, False))
 
+
 def test_counter_set_up_trigger(wpilib, hal_data):
     src = wpilib.AnalogTrigger(4)
     ctr = wpilib.Counter()
     ctr.setUpSource(src, wpilib.AnalogTriggerOutput.AnalogTriggerType.kState)
     #Analog triggers get their channel ids from their index, not their analog port.
     check_init(hal_data, 0, 0, 0, (True, False), (False, False), True)
 
+
+def test_counter_clear_up_source(wpilib, hal_data):
+    ctr = wpilib.Counter(2)
+    ctr.clearUpSource()
+    check_init(hal_data, 0, 0, 0, (False, False), (False, False))
+
+
 def test_counter_set_down_channel(wpilib, hal_data):
     ctr = wpilib.Counter()
     ctr.setDownSource(2)
     check_init(hal_data, 0, 0, 2, (False, False), (False, False))
+    assert hal_data['dio'][2]['initialized'] == True
+    assert hal_data['dio'][2]['is_input'] == True
+
 
 def test_counter_set_down_source(wpilib, hal_data):
     src = wpilib.DigitalInput(3)
     ctr = wpilib.Counter()
     ctr.setDownSource(src)
     check_init(hal_data, 0, 0, 3, (False, False), (False, False))
 
+
 def test_counter_set_down_trigger(wpilib, hal_data):
     src = wpilib.AnalogTrigger(4)
     ctr = wpilib.Counter()
     ctr.setDownSource(src, wpilib.AnalogTriggerOutput.AnalogTriggerType.kState)
     #Analog triggers get their channel ids from their index, not their analog port.
     check_init(hal_data, 0, 0, 0, (False, False), (False, False), False, True)
 
+
+def test_counter_clear_up_source(wpilib, hal_data):
+    ctr = wpilib.Counter()
+    ctr.setDownSource(2)
+    ctr.clearDownSource()
+    check_init(hal_data, 0, 0, 0, (False, False), (False, False))
+
+
 def test_counter_free(wpilib, hal_data):
     assert not hal_data["counter"][0]["initialized"]
     assert not hal_data["dio"][0]["initialized"]
@@ -90,6 +128,7 @@ def test_counter_free(wpilib, hal_data):
     assert not hal_data["dio"][0]["initialized"]
     assert not hal_data["dio"][1]["initialized"]
 
+
 @pytest.mark.parametrize("args", [(False, False), (False, True), (True, False), (True, True) ])
 def test_counter_set_up_source_edge(wpilib, hal_data, args):
     ctr = wpilib.Counter()
@@ -98,6 +137,7 @@ def test_counter_set_up_source_edge(wpilib, hal_data, args):
     assert hal_data["counter"][0]["up_rising_edge"] == args[0]
     assert hal_data["counter"][0]["up_falling_edge"] == args[1]
 
+
 @pytest.mark.parametrize("args", [(False, False), (False, True), (True, False), (True, True) ])
 def test_counter_set_down_source_edge(wpilib, hal_data, args):
     ctr = wpilib.Counter()
@@ -106,16 +146,19 @@ def test_counter_set_down_source_edge(wpilib, hal_data, args):
     assert hal_data["counter"][0]["down_rising_edge"] == args[0]
     assert hal_data["counter"][0]["down_falling_edge"] == args[1]
 
+
 def test_counter_set_updown_mode(wpilib, hal_data):
     ctr = wpilib.Counter()
     ctr.setUpDownCounterMode()
     assert hal_data["counter"][0]["mode"] == 0
 
+
 def test_counter_set_extdir_mode(wpilib, hal_data):
     ctr = wpilib.Counter()
     ctr.setExternalDirectionMode()
     assert hal_data["counter"][0]["mode"] == 3
 
+
 @pytest.mark.parametrize("high", [True, False])
 def test_counter_set_semi_mode(wpilib, hal_data, high):
     ctr = wpilib.Counter()
@@ -124,20 +167,23 @@ def test_counter_set_semi_mode(wpilib, hal_data, high):
     assert hal_data['counter'][0]['up_rising_edge'] == high
     assert not hal_data['counter'][0]['update_when_empty']
 
+
 @pytest.mark.parametrize("thresh", [1, 4.5, 1.5])
 def test_counter_set_pl_mode(wpilib, hal_data, thresh):
     ctr = wpilib.Counter()
     ctr.setPulseLengthMode(thresh)
     assert hal_data["counter"][0]["mode"] == 2
     assert hal_data['counter'][0]['pulse_length_threshold'] == thresh
 
+
 def test_counter_get(wpilib, hal_data):
     ctr = wpilib.Counter()
     hal_data["counter"][0]["count"] = 4
     assert ctr.get() == 4
     hal_data["counter"][0]["count"] = 2
     assert ctr.get() == 2
 
+
 def test_counter_get_distance(wpilib, hal_data):
     ctr = wpilib.Counter()
     ctr.setDistancePerPulse(2)
@@ -147,6 +193,7 @@ def test_counter_get_distance(wpilib, hal_data):
     hal_data["counter"][0]["count"] = 2
     assert ctr.getDistance() == 2*5
 
+
 def test_counter_reset(wpilib, hal_data):
     ctr = wpilib.Counter()
     hal_data["counter"][0]["count"] = 4
@@ -155,20 +202,23 @@ def test_counter_reset(wpilib, hal_data):
     assert hal_data["counter"][0]["count"] == 0
     assert ctr.get() == 0
 
+
 @pytest.mark.parametrize("period", [1, 4.5, 1.5])
 def test_counter_set_max_period(wpilib, hal_data, period):
     ctr = wpilib.Counter()
     assert hal_data["counter"][0]["max_period"] == .5
     ctr.setMaxPeriod(period)
     assert hal_data["counter"][0]["max_period"] == period
 
+
 @pytest.mark.parametrize("enabled", [True, False])
 def test_counter_set_update_empty(wpilib, hal_data, enabled):
     ctr = wpilib.Counter()
     assert hal_data["counter"][0]["update_when_empty"] == False
     ctr.setUpdateWhenEmpty(enabled)
     assert hal_data["counter"][0]["update_when_empty"] == enabled
 
+
 def test_counter_get_stopped(wpilib, hal_data):
     ctr = wpilib.Counter()
     hal_data["counter"][0]["period"] = 6
@@ -178,27 +228,90 @@ def test_counter_get_stopped(wpilib, hal_data):
     hal_data["counter"][0]["max_period"] = 3
     assert ctr.getStopped()
 
+
 @pytest.mark.parametrize("dir", [True, False])
 def test_counter_get_direction(wpilib, hal_data, dir):
     ctr = wpilib.Counter()
     hal_data["counter"][0]["direction"] = dir
     assert ctr.getDirection() == dir
 
+
 @pytest.mark.parametrize("dir", [True, False])
 def test_counter_set_reverse_direction(wpilib, hal_data, dir):
     ctr = wpilib.Counter()
     ctr.setReverseDirection(dir)
     assert hal_data["counter"][0]["reverse_direction"] == dir
 
+
 @pytest.mark.parametrize("period", [1, 5.76, 2.222])
 def test_counter_get_period(wpilib, hal_data, period):
     ctr = wpilib.Counter()
     hal_data["counter"][0]["period"] = period
     assert ctr.getPeriod() == period
 
+
+@pytest.mark.parametrize("period, dist_per_pulse, expected", [
+    (1, 3, 3), 
+    (5.76, 1, .173), 
+    (2.222, 2.222, 1)])
+def test_counter_get_rate(wpilib, hal_data, period, dist_per_pulse, expected):
+    ctr = wpilib.Counter()
+    ctr.setDistancePerPulse(dist_per_pulse)
+    hal_data["counter"][0]["period"] = period
+    assert ctr.getRate() == pytest.approx(expected, 0.01)
+
+
 @pytest.mark.parametrize("samples", [1, 3, 10])
 def test_counter_set_get_samples(wpilib, hal_data, samples):
     ctr = wpilib.Counter()
     ctr.setSamplesToAverage(samples)
     assert hal_data["counter"][0]["samples_to_average"] == samples
     assert ctr.getSamplesToAverage() == samples
+
+
+def test_counter_set_pid_source_type_invalid(wpilib):
+    ctr = wpilib.Counter()
+    with pytest.raises(ValueError):
+        ctr.setPIDSourceType(-1)
+
+
+def test_counter_pidget_displacement(wpilib):
+    ctr = wpilib.Counter()
+    ctr.getDistance = MagicMock()
+    ctr.getDistance.return_value = 5.0
+    ctr.setPIDSourceType(wpilib.interfaces.PIDSource.PIDSourceType.kDisplacement)
+    assert ctr.pidGet() == pytest.approx(5.0, 0.01)
+
+
+def test_counter_pidget_rate(wpilib):
+    ctr = wpilib.Counter()
+    ctr.getRate = MagicMock()
+    ctr.getRate.return_value = 7.0
+    ctr.setPIDSourceType(wpilib.interfaces.PIDSource.PIDSourceType.kRate)
+    assert ctr.pidGet() == pytest.approx(7.0, 0.01)
+
+
+def test_counter_initTable_null(wpilib):
+    ctr = wpilib.Counter()
+
+    ctr.initTable(None)
+    assert ctr.valueEntry is None
+
+
+def test_counter_initTable(wpilib, counter_table, hal_data):
+    ctr = wpilib.Counter()
+
+    hal_data["counter"][0]["count"] = 4
+    ctr.initTable(counter_table)
+
+    assert counter_table.getNumber("Value", 0.0) == 4
+
+
+def test_counter_livewindowmode(wpilib, counter_table):
+    ctr = wpilib.Counter()
+
+    ctr.initTable(counter_table)
+    ctr.startLiveWindowMode()
+    assert not hasattr(ctr, 'valueListener')
+    ctr.stopLiveWindowMode()
+    assert not hasattr(ctr, 'valueListener')