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[hal, wpilib] Remove built in accelerometer (#7702)

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This commit is contained in:
Thad House
2025-01-17 14:06:09 -08:00
committed by GitHub
parent 1600e773f4
commit 5a6c895b87
48 changed files with 0 additions and 2304 deletions
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133
wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp
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@@ -1,133 +0,0 @@
// 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/BuiltInAccelerometerSim.h" // NOLINT(build/include_order)
#include <gtest/gtest.h>
#include <hal/Accelerometer.h>
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/BuiltInAccelerometer.h"
namespace frc::sim {
TEST(AccelerometerSimTest, ActiveCallback) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
bool wasTriggered = false;
bool lastValue = false;
auto cb = sim.RegisterActiveCallback(
[&](std::string_view name, const HAL_Value* value) {
wasTriggered = true;
lastValue = value->data.v_boolean;
},
false);
EXPECT_FALSE(wasTriggered);
HAL_SetAccelerometerActive(true);
EXPECT_TRUE(wasTriggered);
EXPECT_TRUE(lastValue);
EXPECT_TRUE(sim.GetActive());
}
TEST(AccelerometerSimTest, SetX) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
DoubleCallback callback;
constexpr double kTestValue = 1.91;
BuiltInAccelerometer accel;
auto cb = sim.RegisterXCallback(callback.GetCallback(), false);
sim.SetX(kTestValue);
EXPECT_EQ(kTestValue, accel.GetX());
EXPECT_EQ(kTestValue, sim.GetX());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(AccelerometerSimTest, SetY) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
DoubleCallback callback;
constexpr double kTestValue = 2.29;
BuiltInAccelerometer accel;
auto cb = sim.RegisterYCallback(callback.GetCallback(), false);
sim.SetY(kTestValue);
EXPECT_EQ(kTestValue, accel.GetY());
EXPECT_EQ(kTestValue, sim.GetY());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(AccelerometerSimTest, SetZ) {
HAL_Initialize(500, 0);
BuiltInAccelerometer accel;
BuiltInAccelerometerSim sim(accel);
sim.ResetData();
DoubleCallback callback;
constexpr double kTestValue = 3.405;
auto cb = sim.RegisterZCallback(callback.GetCallback(), false);
sim.SetZ(kTestValue);
EXPECT_EQ(kTestValue, accel.GetZ());
EXPECT_EQ(kTestValue, sim.GetZ());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(AccelerometerSimTest, SetRange) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
EnumCallback callback;
BuiltInAccelerometer::Range range = BuiltInAccelerometer::kRange_4G;
auto cb = sim.RegisterRangeCallback(callback.GetCallback(), false);
BuiltInAccelerometer accel(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
// 2G
callback.Reset();
range = BuiltInAccelerometer::kRange_2G;
accel.SetRange(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
// 4G
callback.Reset();
range = BuiltInAccelerometer::kRange_4G;
accel.SetRange(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
// 8G
callback.Reset();
range = BuiltInAccelerometer::kRange_8G;
accel.SetRange(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
}
} // namespace frc::sim

2
wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
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@@ -10,7 +10,6 @@
#include "frc/simulation/AddressableLEDSim.h"
#include "frc/simulation/AnalogInputSim.h"
#include "frc/simulation/AnalogTriggerSim.h"
#include "frc/simulation/BuiltInAccelerometerSim.h"
#include "frc/simulation/CTREPCMSim.h"
#include "frc/simulation/DIOSim.h"
#include "frc/simulation/DigitalPWMSim.h"
@@ -25,7 +24,6 @@ using namespace frc::sim;
TEST(SimInitializationTest, AllInitialize) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim biacsim;
AnalogInputSim aisim{0};
EXPECT_THROW(AnalogTriggerSim::CreateForChannel(0), std::out_of_range);
EXPECT_THROW(DigitalPWMSim::CreateForChannel(0), std::out_of_range);