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

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "frc/simulation/RoboRioSim.h"  // NOLINT(build/include_order)

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

#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/RobotController.h"
#include "gtest/gtest.h"

namespace frc::sim {

TEST(RoboRioSimTest, FPGAButton) {
  RoboRioSim::ResetData();

  int dummyStatus = 0;

  BooleanCallback callback;
  auto cb =
      RoboRioSim::RegisterFPGAButtonCallback(callback.GetCallback(), false);
  RoboRioSim::SetFPGAButton(true);
  EXPECT_TRUE(RoboRioSim::GetFPGAButton());
  EXPECT_TRUE(HAL_GetFPGAButton(&dummyStatus));
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_TRUE(callback.GetLastValue());

  callback.Reset();
  RoboRioSim::SetFPGAButton(false);
  EXPECT_FALSE(RoboRioSim::GetFPGAButton());
  EXPECT_FALSE(HAL_GetFPGAButton(&dummyStatus));
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_FALSE(callback.GetLastValue());
}

TEST(RoboRioSimTest, SetVin) {
  RoboRioSim::ResetData();

  DoubleCallback voltageCallback;
  DoubleCallback currentCallback;
  auto voltageCb = RoboRioSim::RegisterVInVoltageCallback(
      voltageCallback.GetCallback(), false);
  auto currentCb = RoboRioSim::RegisterVInCurrentCallback(
      currentCallback.GetCallback(), false);
  constexpr double kTestVoltage = 1.91;
  constexpr double kTestCurrent = 35.04;

  RoboRioSim::SetVInVoltage(units::volt_t{kTestVoltage});
  EXPECT_TRUE(voltageCallback.WasTriggered());
  EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
  EXPECT_EQ(kTestVoltage, RoboRioSim::GetVInVoltage().to<double>());
  EXPECT_EQ(kTestVoltage, RobotController::GetInputVoltage());

  RoboRioSim::SetVInCurrent(units::ampere_t{kTestCurrent});
  EXPECT_TRUE(currentCallback.WasTriggered());
  EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
  EXPECT_EQ(kTestCurrent, RoboRioSim::GetVInCurrent().to<double>());
  EXPECT_EQ(kTestCurrent, RobotController::GetInputCurrent());
}

TEST(RoboRioSimTest, Set6V) {
  RoboRioSim::ResetData();

  DoubleCallback voltageCallback;
  DoubleCallback currentCallback;
  BooleanCallback activeCallback;
  IntCallback faultCallback;
  auto voltageCb = RoboRioSim::RegisterUserVoltage6VCallback(
      voltageCallback.GetCallback(), false);
  auto currentCb = RoboRioSim::RegisterUserCurrent6VCallback(
      currentCallback.GetCallback(), false);
  auto activeCb = RoboRioSim::RegisterUserActive6VCallback(
      activeCallback.GetCallback(), false);
  auto faultsCb = RoboRioSim::RegisterUserFaults6VCallback(
      faultCallback.GetCallback(), false);
  constexpr double kTestVoltage = 22.9;
  constexpr double kTestCurrent = 174;
  constexpr int kTestFaults = 229;

  RoboRioSim::SetUserVoltage6V(units::volt_t{kTestVoltage});
  EXPECT_TRUE(voltageCallback.WasTriggered());
  EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
  EXPECT_EQ(kTestVoltage, RoboRioSim::GetUserVoltage6V().to<double>());
  EXPECT_EQ(kTestVoltage, RobotController::GetVoltage6V());

  RoboRioSim::SetUserCurrent6V(units::ampere_t{kTestCurrent});
  EXPECT_TRUE(currentCallback.WasTriggered());
  EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
  EXPECT_EQ(kTestCurrent, RoboRioSim::GetUserCurrent6V().to<double>());
  EXPECT_EQ(kTestCurrent, RobotController::GetCurrent6V());

  RoboRioSim::SetUserActive6V(false);
  EXPECT_TRUE(activeCallback.WasTriggered());
  EXPECT_FALSE(activeCallback.GetLastValue());
  EXPECT_FALSE(RoboRioSim::GetUserActive6V());
  EXPECT_FALSE(RobotController::GetEnabled6V());

  RoboRioSim::SetUserFaults6V(kTestFaults);
  EXPECT_TRUE(faultCallback.WasTriggered());
  EXPECT_EQ(kTestFaults, faultCallback.GetLastValue());
  EXPECT_EQ(kTestFaults, RoboRioSim::GetUserFaults6V());
  EXPECT_EQ(kTestFaults, RobotController::GetFaultCount6V());
}

TEST(RoboRioSimTest, Set5V) {
  RoboRioSim::ResetData();

  DoubleCallback voltageCallback;
  DoubleCallback currentCallback;
  BooleanCallback activeCallback;
  IntCallback faultCallback;
  auto voltageCb = RoboRioSim::RegisterUserVoltage5VCallback(
      voltageCallback.GetCallback(), false);
  auto currentCb = RoboRioSim::RegisterUserCurrent5VCallback(
      currentCallback.GetCallback(), false);
  auto activeCb = RoboRioSim::RegisterUserActive5VCallback(
      activeCallback.GetCallback(), false);
  auto faultsCb = RoboRioSim::RegisterUserFaults5VCallback(
      faultCallback.GetCallback(), false);
  constexpr double kTestVoltage = 22.9;
  constexpr double kTestCurrent = 174;
  constexpr int kTestFaults = 229;

  RoboRioSim::SetUserVoltage5V(units::volt_t{kTestVoltage});
  EXPECT_TRUE(voltageCallback.WasTriggered());
  EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
  EXPECT_EQ(kTestVoltage, RoboRioSim::GetUserVoltage5V().to<double>());
  EXPECT_EQ(kTestVoltage, RobotController::GetVoltage5V());

  RoboRioSim::SetUserCurrent5V(units::ampere_t{kTestCurrent});
  EXPECT_TRUE(currentCallback.WasTriggered());
  EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
  EXPECT_EQ(kTestCurrent, RoboRioSim::GetUserCurrent5V().to<double>());
  EXPECT_EQ(kTestCurrent, RobotController::GetCurrent5V());

  RoboRioSim::SetUserActive5V(false);
  EXPECT_TRUE(activeCallback.WasTriggered());
  EXPECT_FALSE(activeCallback.GetLastValue());
  EXPECT_FALSE(RoboRioSim::GetUserActive5V());
  EXPECT_FALSE(RobotController::GetEnabled5V());

  RoboRioSim::SetUserFaults5V(kTestFaults);
  EXPECT_TRUE(faultCallback.WasTriggered());
  EXPECT_EQ(kTestFaults, faultCallback.GetLastValue());
  EXPECT_EQ(kTestFaults, RoboRioSim::GetUserFaults5V());
  EXPECT_EQ(kTestFaults, RobotController::GetFaultCount5V());
}

TEST(RoboRioSimTest, Set3V3) {
  RoboRioSim::ResetData();

  DoubleCallback voltageCallback;
  DoubleCallback currentCallback;
  BooleanCallback activeCallback;
  IntCallback faultCallback;
  auto voltageCb = RoboRioSim::RegisterUserVoltage3V3Callback(
      voltageCallback.GetCallback(), false);
  auto currentCb = RoboRioSim::RegisterUserCurrent3V3Callback(
      currentCallback.GetCallback(), false);
  auto activeCb = RoboRioSim::RegisterUserActive3V3Callback(
      activeCallback.GetCallback(), false);
  auto faultsCb = RoboRioSim::RegisterUserFaults3V3Callback(
      faultCallback.GetCallback(), false);
  constexpr double kTestVoltage = 22.9;
  constexpr double kTestCurrent = 174;
  constexpr int kTestFaults = 229;

  RoboRioSim::SetUserVoltage3V3(units::volt_t{kTestVoltage});
  EXPECT_TRUE(voltageCallback.WasTriggered());
  EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
  EXPECT_EQ(kTestVoltage, RoboRioSim::GetUserVoltage3V3().to<double>());
  EXPECT_EQ(kTestVoltage, RobotController::GetVoltage3V3());

  RoboRioSim::SetUserCurrent3V3(units::ampere_t{kTestCurrent});
  EXPECT_TRUE(currentCallback.WasTriggered());
  EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
  EXPECT_EQ(kTestCurrent, RoboRioSim::GetUserCurrent3V3().to<double>());
  EXPECT_EQ(kTestCurrent, RobotController::GetCurrent3V3());

  RoboRioSim::SetUserActive3V3(false);
  EXPECT_TRUE(activeCallback.WasTriggered());
  EXPECT_FALSE(activeCallback.GetLastValue());
  EXPECT_FALSE(RoboRioSim::GetUserActive3V3());
  EXPECT_FALSE(RobotController::GetEnabled3V3());

  RoboRioSim::SetUserFaults3V3(kTestFaults);
  EXPECT_TRUE(faultCallback.WasTriggered());
  EXPECT_EQ(kTestFaults, faultCallback.GetLastValue());
  EXPECT_EQ(kTestFaults, RoboRioSim::GetUserFaults3V3());
  EXPECT_EQ(kTestFaults, RobotController::GetFaultCount3V3());
}

}  // namespace frc::sim