allwpilib/hal/src/test/native/cpp/sim/AccelerometerSimTest.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "gtest/gtest.h"
#include "hal/Accelerometer.h"
#include "hal/HAL.h"
#include "simulation/AccelerometerSim.h"

using namespace frc::sim;

namespace hal {

TEST(AcclerometerSimTests, TestActiveCallback) {
  HAL_Initialize(500, 0);

  AccelerometerSim sim{0};

  sim.ResetData();

  bool wasTriggered = false;
  bool lastValue = false;

  auto cb = sim.RegisterActiveCallback(
      [&](wpi::StringRef name, const HAL_Value* value) {
        wasTriggered = true;
        lastValue = value->data.v_boolean;
      },
      false);

  EXPECT_FALSE(wasTriggered);

  HAL_SetAccelerometerActive(true);

  EXPECT_TRUE(wasTriggered);
  EXPECT_TRUE(lastValue);
}

}  // namespace hal