allwpilib/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2020 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 "frc/simulation/BuiltInAccelerometerSim.h"  // NOLINT(build/include_order)

#include <hal/Accelerometer.h>
#include <hal/HAL.h>

#include "gtest/gtest.h"

using namespace frc::sim;

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

  BuiltInAccelerometerSim sim;

  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);
}