Add halsim unit tests (#783)

Also adds function that can register all the callbacks at once. Since all of the callbacks issue a string identifier, it makes it possible and easy to have one function callback, and differentiate the path to take based on the string. Hooking up all the callbacks at once makes it easier for the simulator developer to know when something was added to wpilib rather than looking at the commits.
2026-06-20 00:51:42 +00:00 · 2017-12-08 01:42:20 -05:00
parent 4e3af0756d
commit 33a08d5b34
11 changed files with 614 additions and 0 deletions
--- a/hal/src/test/native/cpp/MockData/DriverStationDataTests.cpp
+++ b/hal/src/test/native/cpp/MockData/DriverStationDataTests.cpp
@@ -0,0 +1,139 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2017 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <cstring>
+
+#include "HAL/HAL.h"
+#include "HAL/Solenoid.h"
+#include "MockData/DriverStationData.h"
+#include "gtest/gtest.h"
+
+namespace hal {
+
+TEST(DriverStationTests, JoystickTests) {
+  HAL_JoystickAxes axes;
+  HAL_JoystickPOVs povs;
+  HAL_JoystickButtons buttons;
+
+  // Check default values before anything has been set
+  for (int joystickNum = 0; joystickNum < 6; ++joystickNum) {
+    HAL_GetJoystickAxes(joystickNum, &axes);
+    HAL_GetJoystickPOVs(joystickNum, &povs);
+    HAL_GetJoystickButtons(joystickNum, &buttons);
+
+    EXPECT_EQ(0, axes.count);
+    for (int i = 0; i < HAL_kMaxJoystickAxes; ++i) {
+      EXPECT_EQ(0, axes.axes[i]);
+    }
+
+    EXPECT_EQ(0, povs.count);
+    for (int i = 0; i < HAL_kMaxJoystickPOVs; ++i) {
+      EXPECT_EQ(0, povs.povs[i]);
+    }
+
+    EXPECT_EQ(0, buttons.count);
+    EXPECT_EQ(0u, buttons.buttons);
+  }
+
+  HAL_JoystickAxes set_axes;
+  std::memset(&set_axes, 0, sizeof(HAL_JoystickAxes));
+  HAL_JoystickPOVs set_povs;
+  std::memset(&set_povs, 0, sizeof(HAL_JoystickPOVs));
+  HAL_JoystickButtons set_buttons;
+  std::memset(&set_buttons, 0, sizeof(HAL_JoystickButtons));
+
+  // Set values
+  int joystickUnderTest = 4;
+  set_axes.count = 5;
+  for (int i = 0; i < set_axes.count; ++i) {
+    set_axes.axes[i] = i * .125;
+  }
+
+  set_povs.count = 3;
+  for (int i = 0; i < set_povs.count; ++i) {
+    set_povs.povs[i] = i * 15 + 12;
+  }
+
+  set_buttons.count = 8;
+  set_buttons.buttons = 0xDEADBEEF;
+
+  HALSIM_SetJoystickAxes(joystickUnderTest, &set_axes);
+  HALSIM_SetJoystickPOVs(joystickUnderTest, &set_povs);
+  HALSIM_SetJoystickButtons(joystickUnderTest, &set_buttons);
+
+  // Check the set values
+  HAL_GetJoystickAxes(joystickUnderTest, &axes);
+  HAL_GetJoystickPOVs(joystickUnderTest, &povs);
+  HAL_GetJoystickButtons(joystickUnderTest, &buttons);
+
+  EXPECT_EQ(5, axes.count);
+  EXPECT_NEAR(0.000, axes.axes[0], 0.000001);
+  EXPECT_NEAR(0.125, axes.axes[1], 0.000001);
+  EXPECT_NEAR(0.250, axes.axes[2], 0.000001);
+  EXPECT_NEAR(0.375, axes.axes[3], 0.000001);
+  EXPECT_NEAR(0.500, axes.axes[4], 0.000001);
+  EXPECT_NEAR(0, axes.axes[5], 0.000001);  // Should not have been set, still 0
+  EXPECT_NEAR(0, axes.axes[6], 0.000001);  // Should not have been set, still 0
+
+  EXPECT_EQ(3, povs.count);
+  EXPECT_EQ(12, povs.povs[0]);
+  EXPECT_EQ(27, povs.povs[1]);
+  EXPECT_EQ(42, povs.povs[2]);
+  EXPECT_EQ(0, povs.povs[3]);  // Should not have been set, still 0
+  EXPECT_EQ(0, povs.povs[4]);  // Should not have been set, still 0
+  EXPECT_EQ(0, povs.povs[5]);  // Should not have been set, still 0
+  EXPECT_EQ(0, povs.povs[6]);  // Should not have been set, still 0
+
+  EXPECT_EQ(8, buttons.count);
+  EXPECT_EQ(0xDEADBEEFu, buttons.buttons);
+
+  // Reset
+  HALSIM_ResetDriverStationData();
+  for (int joystickNum = 0; joystickNum < 6; ++joystickNum) {
+    HAL_GetJoystickAxes(joystickNum, &axes);
+    HAL_GetJoystickPOVs(joystickNum, &povs);
+    HAL_GetJoystickButtons(joystickNum, &buttons);
+
+    EXPECT_EQ(0, axes.count);
+    for (int i = 0; i < HAL_kMaxJoystickAxes; ++i) {
+      EXPECT_EQ(0, axes.axes[i]);
+    }
+
+    EXPECT_EQ(0, povs.count);
+    for (int i = 0; i < HAL_kMaxJoystickPOVs; ++i) {
+      EXPECT_EQ(0, povs.povs[i]);
+    }
+
+    EXPECT_EQ(0, buttons.count);
+    EXPECT_EQ(0u, buttons.buttons);
+  }
+}
+
+TEST(DriverStationTests, EventInfoTest) {
+  std::string eventName = "UnitTest";
+  std::string gameData = "Insert game specific info here :D";
+  HAL_MatchInfo info;
+  info.eventName = const_cast<char*>(eventName.c_str());
+  info.gameSpecificMessage = const_cast<char*>(gameData.c_str());
+  info.matchNumber = 5;
+  info.matchType = HAL_MatchType::HAL_kMatchType_qualification;
+  info.replayNumber = 42;
+  HALSIM_SetMatchInfo(&info);
+
+  HAL_MatchInfo dataBack;
+  HAL_GetMatchInfo(&dataBack);
+
+  EXPECT_STREQ(eventName.c_str(), dataBack.eventName);
+  EXPECT_STREQ(gameData.c_str(), dataBack.gameSpecificMessage);
+  EXPECT_EQ(5, dataBack.matchNumber);
+  EXPECT_EQ(HAL_MatchType::HAL_kMatchType_qualification, dataBack.matchType);
+  EXPECT_EQ(42, dataBack.replayNumber);
+
+  HAL_FreeMatchInfo(&dataBack);
+}
+
+}  // namespace hal