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[hal, wpilib] Add initial systemcore counter implementation (#7723)

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This commit is contained in:
Thad House
2025-01-28 08:58:34 -08:00
committed by GitHub
parent b799b285b3
commit 48ce2dcc8d
47 changed files with 201 additions and 4357 deletions
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42
wpilibc/src/test/native/cpp/UltrasonicTest.cpp
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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.
#include <gtest/gtest.h>
#include "frc/Ultrasonic.h"
#include "frc/simulation/UltrasonicSim.h"
using namespace frc;
TEST(UltrasonicTest, SimDevices) {
Ultrasonic ultrasonic{0, 1};
sim::UltrasonicSim sim{ultrasonic};
EXPECT_EQ(0, ultrasonic.GetRange().value());
EXPECT_TRUE(ultrasonic.IsRangeValid());
sim.SetRange(units::meter_t{35.04});
EXPECT_EQ(35.04, ultrasonic.GetRange().value());
sim.SetRangeValid(false);
EXPECT_FALSE(ultrasonic.IsRangeValid());
EXPECT_EQ(0, ultrasonic.GetRange().value());
}
TEST(UltrasonicTest, AutomaticModeToggle) {
frc::Ultrasonic ultrasonic{0, 1};
EXPECT_NO_THROW({
frc::Ultrasonic::SetAutomaticMode(true);
frc::Ultrasonic::SetAutomaticMode(false);
frc::Ultrasonic::SetAutomaticMode(true);
});
}
TEST(UltrasonicTest, AutomaticModeOnWithZeroInstances) {
EXPECT_NO_THROW({ frc::Ultrasonic::SetAutomaticMode(true); });
}
TEST(UltrasonicTest, AutomaticModeOffWithZeroInstances) {
EXPECT_NO_THROW({ frc::Ultrasonic::SetAutomaticMode(false); });
}