[sim] Add sim wrappers for sensors that use SimDevice (#3517)

wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java

@@ -0,0 +1,31 @@
+// 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.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.wpilibj.simulation.UltrasonicSim;
+import org.junit.jupiter.api.Test;
+
+public class UltrasonicTest {
+  @Test
+  public void testUltrasonic() {
+    try (Ultrasonic ultrasonic = new Ultrasonic(0, 1)) {
+      UltrasonicSim sim = new UltrasonicSim(ultrasonic);
+
+      assertEquals(0, ultrasonic.getRangeInches());
+      assertTrue(ultrasonic.isRangeValid());
+
+      sim.setRangeInches(35.04);
+      assertEquals(35.04, ultrasonic.getRangeInches());
+
+      sim.setRangeValid(false);
+      assertFalse(ultrasonic.isRangeValid());
+      assertEquals(0, ultrasonic.getRangeInches());
+    }
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL345SimTest.java

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+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.ADXL345_I2C;
+import edu.wpi.first.wpilibj.ADXL345_SPI;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.SPI;
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+public class ADXL345SimTest {
+  @ParameterizedTest
+  @EnumSource(Accelerometer.Range.class)
+  void testInitI2C(Accelerometer.Range range) {
+    HAL.initialize(500, 0);
+
+    try (ADXL345_I2C accel = new ADXL345_I2C(I2C.Port.kMXP, range)) {
+      ADXL345Sim sim = new ADXL345Sim(accel);
+
+      sim.setX(1.91);
+      sim.setY(-3.405);
+      sim.setZ(2.29);
+
+      assertEquals(1.91, accel.getX());
+      assertEquals(-3.405, accel.getY());
+      assertEquals(2.29, accel.getZ());
+
+      ADXL345_I2C.AllAxes allAccel = accel.getAccelerations();
+      assertEquals(1.91, allAccel.XAxis);
+      assertEquals(-3.405, allAccel.YAxis);
+      assertEquals(2.29, allAccel.ZAxis);
+    }
+  }
+
+  @ParameterizedTest
+  @EnumSource(Accelerometer.Range.class)
+  void testInitSPi(Accelerometer.Range range) {
+    HAL.initialize(500, 0);
+
+    try (ADXL345_SPI accel = new ADXL345_SPI(SPI.Port.kMXP, range)) {
+      ADXL345Sim sim = new ADXL345Sim(accel);
+
+      sim.setX(1.91);
+      sim.setY(-3.405);
+      sim.setZ(2.29);
+
+      assertEquals(1.91, accel.getX());
+      assertEquals(-3.405, accel.getY());
+      assertEquals(2.29, accel.getZ());
+
+      ADXL345_SPI.AllAxes allAccel = accel.getAccelerations();
+      assertEquals(1.91, allAccel.XAxis);
+      assertEquals(-3.405, allAccel.YAxis);
+      assertEquals(2.29, allAccel.ZAxis);
+    }
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL362SimTest.java

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+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.ADXL362;
+import edu.wpi.first.wpilibj.SPI;
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+public class ADXL362SimTest {
+  @ParameterizedTest
+  @EnumSource(Accelerometer.Range.class)
+  void testAccel(Accelerometer.Range range) {
+    HAL.initialize(500, 0);
+
+    try (ADXL362 accel = new ADXL362(SPI.Port.kMXP, range)) {
+      assertEquals(0, accel.getX());
+      assertEquals(0, accel.getY());
+      assertEquals(0, accel.getZ());
+
+      ADXL362Sim sim = new ADXL362Sim(accel);
+      sim.setX(1.91);
+      sim.setY(-3.405);
+      sim.setZ(2.29);
+
+      assertEquals(1.91, accel.getX());
+      assertEquals(-3.405, accel.getY());
+      assertEquals(2.29, accel.getZ());
+
+      ADXL362.AllAxes allAccel = accel.getAccelerations();
+      assertEquals(1.91, allAccel.XAxis);
+      assertEquals(-3.405, allAccel.YAxis);
+      assertEquals(2.29, allAccel.ZAxis);
+    }
+  }
+}