mirror of
https://github.com/wpilibsuite/allwpilib
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81 lines
2.2 KiB
C++
81 lines
2.2 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/DIOSim.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/DigitalInput.h"
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#include "frc/DigitalOutput.h"
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#include "gtest/gtest.h"
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namespace frc::sim {
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TEST(DIOSimTest, Initialization) {
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HAL_Initialize(500, 0);
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DIOSim sim{2};
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sim.ResetData();
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EXPECT_FALSE(sim.GetInitialized());
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BooleanCallback initializeCallback;
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BooleanCallback isInputCallback;
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auto initializeCb =
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sim.RegisterInitializedCallback(initializeCallback.GetCallback(), false);
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auto inputCb =
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sim.RegisterIsInputCallback(isInputCallback.GetCallback(), false);
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DigitalOutput output(2);
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EXPECT_TRUE(sim.GetInitialized());
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EXPECT_TRUE(initializeCallback.WasTriggered());
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EXPECT_TRUE(initializeCallback.GetLastValue());
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EXPECT_FALSE(sim.GetIsInput());
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EXPECT_TRUE(isInputCallback.WasTriggered());
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EXPECT_FALSE(isInputCallback.GetLastValue());
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initializeCallback.Reset();
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sim.SetInitialized(false);
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EXPECT_TRUE(initializeCallback.WasTriggered());
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EXPECT_FALSE(initializeCallback.GetLastValue());
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}
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TEST(DIOSimTest, Input) {
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HAL_Initialize(500, 0);
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DigitalInput input{0};
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DIOSim sim(input);
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EXPECT_TRUE(sim.GetIsInput());
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BooleanCallback valueCallback;
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auto cb = sim.RegisterValueCallback(valueCallback.GetCallback(), false);
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EXPECT_TRUE(input.Get());
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EXPECT_TRUE(sim.GetValue());
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EXPECT_FALSE(valueCallback.WasTriggered());
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sim.SetValue(false);
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EXPECT_TRUE(valueCallback.WasTriggered());
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EXPECT_FALSE(valueCallback.GetLastValue());
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}
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TEST(DIOSimTest, Output) {
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HAL_Initialize(500, 0);
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DigitalOutput output{0};
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DIOSim sim(output);
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EXPECT_FALSE(sim.GetIsInput());
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BooleanCallback valueCallback;
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auto cb = sim.RegisterValueCallback(valueCallback.GetCallback(), false);
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EXPECT_FALSE(output.Get());
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EXPECT_FALSE(sim.GetValue());
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EXPECT_FALSE(valueCallback.WasTriggered());
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output.Set(true);
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EXPECT_TRUE(valueCallback.WasTriggered());
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EXPECT_TRUE(valueCallback.GetLastValue());
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}
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} // namespace frc::sim
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