[hal, wpilib] Add REV PneumaticsHub (#3600)

2026-06-20 00:51:42 +00:00 · 2021-10-10 20:04:50 -07:00
parent 4c61a13057
commit 10f19e6fc3
49 changed files with 8383 additions and 19 deletions
--- a/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
@@ -0,0 +1,150 @@
+// 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/REVPHSim.h"  // NOLINT(build/include_order)
+
+#include <hal/HAL.h>
+
+#include "callback_helpers/TestCallbackHelpers.h"
+#include "frc/DoubleSolenoid.h"
+#include "frc/PneumaticsHub.h"
+#include "gtest/gtest.h"
+
+namespace frc::sim {
+
+TEST(REVPHSimTest, InitializedCallback) {
+  REVPHSim sim;
+
+  sim.ResetData();
+  EXPECT_FALSE(sim.GetInitialized());
+
+  BooleanCallback callback;
+  auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
+
+  PneumaticsHub ph;
+  EXPECT_TRUE(sim.GetInitialized());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SolenoidOutput) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  DoubleSolenoid doubleSolenoid{1, frc::PneumaticsModuleType::REVPH, 3, 4};
+
+  BooleanCallback callback3;
+  BooleanCallback callback4;
+  auto cb3 =
+      sim.RegisterSolenoidOutputCallback(3, callback3.GetCallback(), false);
+  auto cb4 =
+      sim.RegisterSolenoidOutputCallback(4, callback4.GetCallback(), false);
+
+  callback3.Reset();
+  callback4.Reset();
+  doubleSolenoid.Set(DoubleSolenoid::kReverse);
+  EXPECT_FALSE(callback3.WasTriggered());
+  EXPECT_FALSE(callback3.GetLastValue());
+  EXPECT_TRUE(callback4.WasTriggered());
+  EXPECT_TRUE(callback4.GetLastValue());
+  EXPECT_FALSE(sim.GetSolenoidOutput(3));
+  EXPECT_TRUE(sim.GetSolenoidOutput(4));
+  EXPECT_EQ(0b00010000, ph.GetSolenoids());
+  EXPECT_EQ(0b00010000, sim.GetAllSolenoidOutputs());
+
+  callback3.Reset();
+  callback4.Reset();
+  doubleSolenoid.Set(DoubleSolenoid::kForward);
+  EXPECT_TRUE(callback3.WasTriggered());
+  EXPECT_TRUE(callback3.GetLastValue());
+  EXPECT_TRUE(callback4.WasTriggered());
+  EXPECT_FALSE(callback4.GetLastValue());
+  EXPECT_TRUE(sim.GetSolenoidOutput(3));
+  EXPECT_FALSE(sim.GetSolenoidOutput(4));
+  EXPECT_EQ(0b00001000, ph.GetSolenoids());
+  EXPECT_EQ(0b00001000, sim.GetAllSolenoidOutputs());
+
+  callback3.Reset();
+  callback4.Reset();
+  doubleSolenoid.Set(DoubleSolenoid::kOff);
+  EXPECT_TRUE(callback3.WasTriggered());
+  EXPECT_FALSE(callback3.GetLastValue());
+  EXPECT_FALSE(callback4.WasTriggered());
+  EXPECT_FALSE(callback4.GetLastValue());
+  EXPECT_FALSE(sim.GetSolenoidOutput(3));
+  EXPECT_FALSE(sim.GetSolenoidOutput(4));
+  EXPECT_EQ(0b00000000, ph.GetSolenoids());
+  EXPECT_EQ(0b00000000, sim.GetAllSolenoidOutputs());
+}
+
+TEST(REVPHSimTest, SetCompressorOn) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  BooleanCallback callback;
+  auto cb = sim.RegisterCompressorOnCallback(callback.GetCallback(), false);
+
+  EXPECT_FALSE(ph.GetCompressor());
+  EXPECT_FALSE(ph.GetCompressor());
+  sim.SetCompressorOn(true);
+  EXPECT_TRUE(sim.GetCompressorOn());
+  EXPECT_TRUE(ph.GetCompressor());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SetClosedLoopEnabled) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  BooleanCallback callback;
+  auto cb =
+      sim.RegisterClosedLoopEnabledCallback(callback.GetCallback(), false);
+
+  ph.SetClosedLoopControl(false);
+  EXPECT_FALSE(ph.GetClosedLoopControl());
+
+  ph.SetClosedLoopControl(true);
+  EXPECT_TRUE(sim.GetClosedLoopEnabled());
+  EXPECT_TRUE(ph.GetClosedLoopControl());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SetPressureSwitchEnabled) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  BooleanCallback callback;
+  auto cb = sim.RegisterPressureSwitchCallback(callback.GetCallback(), false);
+
+  EXPECT_FALSE(ph.GetPressureSwitch());
+
+  sim.SetPressureSwitch(true);
+  EXPECT_TRUE(sim.GetPressureSwitch());
+  EXPECT_TRUE(ph.GetPressureSwitch());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SetCompressorCurrent) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  DoubleCallback callback;
+  auto cb =
+      sim.RegisterCompressorCurrentCallback(callback.GetCallback(), false);
+
+  sim.SetCompressorCurrent(35.04);
+  EXPECT_EQ(35.04, sim.GetCompressorCurrent());
+  EXPECT_EQ(35.04, ph.GetCompressorCurrent());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_EQ(35.04, callback.GetLastValue());
+}
+}  // namespace frc::sim