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https://github.com/wpilibsuite/allwpilib
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87 lines
2.3 KiB
C++
87 lines
2.3 KiB
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/simulation/AnalogGyroSim.h" // NOLINT(build/include_order)
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#include <hal/HAL.h>
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#include "callback_helpers/TestCallbackHelpers.h"
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#include "frc/AnalogGyro.h"
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#include "frc/AnalogInput.h"
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#include "gtest/gtest.h"
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namespace frc::sim {
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TEST(AnalogGyroSimTest, InitializeGyro) {
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HAL_Initialize(500, 0);
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AnalogGyroSim sim{0};
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EXPECT_FALSE(sim.GetInitialized());
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BooleanCallback initializedCallback;
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auto cb =
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sim.RegisterInitializedCallback(initializedCallback.GetCallback(), false);
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AnalogGyro gyro(0);
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EXPECT_TRUE(sim.GetInitialized());
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EXPECT_TRUE(initializedCallback.WasTriggered());
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EXPECT_TRUE(initializedCallback.GetLastValue());
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}
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TEST(AnalogGyroSimTest, SetAngle) {
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HAL_Initialize(500, 0);
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AnalogGyroSim sim{0};
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DoubleCallback callback;
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AnalogInput ai(0);
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AnalogGyro gyro(&ai);
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auto cb = sim.RegisterAngleCallback(callback.GetCallback(), false);
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EXPECT_EQ(0, gyro.GetAngle());
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constexpr double kTestAngle = 35.04;
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sim.SetAngle(kTestAngle);
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EXPECT_EQ(kTestAngle, sim.GetAngle());
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EXPECT_EQ(kTestAngle, gyro.GetAngle());
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EXPECT_EQ(-kTestAngle, gyro.GetRotation2d().Degrees().to<double>());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(kTestAngle, callback.GetLastValue());
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}
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TEST(AnalogGyroSimTest, SetRate) {
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HAL_Initialize(500, 0);
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AnalogGyroSim sim{0};
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DoubleCallback callback;
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std::shared_ptr<AnalogInput> ai(new AnalogInput(0));
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AnalogGyro gyro(ai);
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auto cb = sim.RegisterRateCallback(callback.GetCallback(), false);
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EXPECT_EQ(0, gyro.GetRate());
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constexpr double kTestRate = -19.1;
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sim.SetRate(kTestRate);
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EXPECT_EQ(kTestRate, sim.GetRate());
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EXPECT_EQ(kTestRate, gyro.GetRate());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(kTestRate, callback.GetLastValue());
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}
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TEST(AnalogGyroSimTest, Reset) {
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HAL_Initialize(500, 0);
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AnalogInput ai{0};
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AnalogGyro gyro(&ai);
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AnalogGyroSim sim(gyro);
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sim.SetAngle(12.34);
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sim.SetRate(43.21);
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sim.ResetData();
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EXPECT_EQ(0, sim.GetAngle());
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EXPECT_EQ(0, sim.GetRate());
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EXPECT_EQ(0, gyro.GetAngle());
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EXPECT_EQ(0, gyro.GetRate());
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}
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} // namespace frc::sim
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