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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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135
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.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 static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.EnumCallback;
import org.junit.jupiter.api.Test;
class AccelerometerSimTest {
@Test
void testCallbacks() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
BooleanCallback store = new BooleanCallback();
try (CallbackStore cb = sim.registerActiveCallback(store, false)) {
assertFalse(store.wasTriggered());
sim.setActive(true);
assertTrue(sim.getActive());
assertTrue(store.wasTriggered());
assertTrue(store.getSetValue());
}
}
@Test
void testX() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
DoubleCallback callback = new DoubleCallback();
final double kTestValue = 1.91;
try (BuiltInAccelerometer accel = new BuiltInAccelerometer();
CallbackStore cb = sim.registerXCallback(callback, false)) {
sim.setX(kTestValue);
assertEquals(kTestValue, accel.getX());
assertEquals(kTestValue, sim.getX());
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
}
}
@Test
void testY() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
DoubleCallback callback = new DoubleCallback();
final double kTestValue = 2.29;
try (BuiltInAccelerometer accel = new BuiltInAccelerometer();
CallbackStore cb = sim.registerYCallback(callback, false)) {
sim.setY(kTestValue);
assertEquals(kTestValue, accel.getY());
assertEquals(kTestValue, sim.getY());
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
}
}
@Test
void testZ() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
DoubleCallback callback = new DoubleCallback();
final double kTestValue = 3.405;
try (BuiltInAccelerometer accel = new BuiltInAccelerometer();
CallbackStore cb = sim.registerZCallback(callback, false)) {
sim.setZ(kTestValue);
assertEquals(kTestValue, accel.getZ());
assertEquals(kTestValue, sim.getZ());
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
}
}
@Test
void testRange() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
EnumCallback callback = new EnumCallback();
BuiltInAccelerometer.Range range = BuiltInAccelerometer.Range.k4G;
try (CallbackStore cb = sim.registerRangeCallback(callback, false);
BuiltInAccelerometer accel = new BuiltInAccelerometer(range)) {
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
// 2G
callback.reset();
range = BuiltInAccelerometer.Range.k2G;
accel.setRange(range);
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
// 4G
callback.reset();
range = BuiltInAccelerometer.Range.k4G;
accel.setRange(range);
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
// 8G
callback.reset();
range = BuiltInAccelerometer.Range.k8G;
accel.setRange(range);
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
}
}
}