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[sim] Add SendableChooserSim (#6763)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
This commit is contained in:
Gold856
2024-08-15 18:00:10 -04:00
committed by GitHub
parent 477907e4cc
commit 0c58426f4c
5 changed files with 138 additions and 15 deletions
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15
wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
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@@ -2,6 +2,7 @@
// 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/SendableChooserSim.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc/smartdashboard/SmartDashboard.h>
@@ -16,22 +17,18 @@ class SendableChooserTest : public ::testing::TestWithParam<int> {};
TEST_P(SendableChooserTest, ReturnsSelected) {
frc::SendableChooser<int> chooser;
frc::sim::SendableChooserSim chooserSim{
fmt::format("/SmartDashboard/ReturnsSelectedChooser{}/", GetParam())};
for (int i = 1; i <= 3; i++) {
chooser.AddOption(std::to_string(i), i);
}
chooser.SetDefaultOption("0", 0);
auto pub =
nt::NetworkTableInstance::GetDefault()
.GetStringTopic(fmt::format(
"/SmartDashboard/ReturnsSelectedChooser{}/selected", GetParam()))
.Publish();
frc::SmartDashboard::PutData(
fmt::format("ReturnsSelectedChooser{}", GetParam()), &chooser);
frc::SmartDashboard::UpdateValues();
pub.Set(std::to_string(GetParam()));
chooserSim.SetSelected(std::to_string(GetParam()));
frc::SmartDashboard::UpdateValues();
EXPECT_EQ(GetParam(), chooser.GetSelected());
}
@@ -62,6 +59,8 @@ TEST(SendableChooserTest,
TEST(SendableChooserTest, ChangeListener) {
frc::SendableChooser<int> chooser;
frc::sim::SendableChooserSim chooserSim{
"/SmartDashboard/ChangeListenerChooser/"};
for (int i = 1; i <= 3; i++) {
chooser.AddOption(std::to_string(i), i);
@@ -71,7 +70,7 @@ TEST(SendableChooserTest, ChangeListener) {
frc::SmartDashboard::PutData("ChangeListenerChooser", &chooser);
frc::SmartDashboard::UpdateValues();
frc::SmartDashboard::PutString("ChangeListenerChooser/selected", "3");
chooserSim.SetSelected("3");
frc::SmartDashboard::UpdateValues();
EXPECT_EQ(3, currentVal);