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[wpilibc] Add more unit tests (#3494)

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This commit is contained in:
PJ Reiniger
2021-08-05 22:04:51 -04:00
committed by GitHub
parent b253246959
commit 94e0db7963
30 changed files with 2588 additions and 89 deletions
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81
wpilibc/src/test/native/cpp/JoystickTestMacros.h Normal file
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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.
#pragma once
#define AXIS_TEST(JoystickType, AxisName) \
TEST(JoystickType##Tests, Set##HandType##AxisName##Axis) { \
JoystickType joy{2}; \
sim::JoystickType##Sim joysim{joy}; \
joysim.Set##AxisName(0.35); \
joysim.NotifyNewData(); \
ASSERT_NEAR(joy.Get##AxisName(), 0.35, 0.001); \
}
#define HANDED_AXIS_TEST_IMPL(JoystickType, HandType, AxisName) \
TEST(JoystickType##Tests, Set##HandType##AxisName##Axis) { \
JoystickType joy{2}; \
sim::JoystickType##Sim joysim{joy}; \
joysim.Set##AxisName(JoystickType::HandType, 0.35); \
joysim.NotifyNewData(); \
ASSERT_NEAR(joy.Get##AxisName(JoystickType::HandType), 0.35, 0.001); \
}
#define HANDED_AXIS_TEST(JoystickType, AxisName) \
HANDED_AXIS_TEST_IMPL(JoystickType, kLeftHand, AxisName) \
HANDED_AXIS_TEST_IMPL(JoystickType, kRightHand, AxisName)
#define BUTTON_TEST(JoystickType, ButtonName) \
TEST(JoystickType##Tests, Set##ButtonName##Button) { \
JoystickType joy{1}; \
sim::JoystickType##Sim joysim{joy}; \
\
joysim.Set##ButtonName(false); \
joysim.NotifyNewData(); \
ASSERT_FALSE(joy.Get##ButtonName()); \
/* need to call pressed and released to clear flags */ \
joy.Get##ButtonName##Pressed(); \
joy.Get##ButtonName##Released(); \
\
joysim.Set##ButtonName(true); \
joysim.NotifyNewData(); \
ASSERT_TRUE(joy.Get##ButtonName()); \
ASSERT_TRUE(joy.Get##ButtonName##Pressed()); \
ASSERT_FALSE(joy.Get##ButtonName##Released()); \
\
joysim.Set##ButtonName(false); \
joysim.NotifyNewData(); \
ASSERT_FALSE(joy.Get##ButtonName()); \
ASSERT_FALSE(joy.Get##ButtonName##Pressed()); \
ASSERT_TRUE(joy.Get##ButtonName##Released()); \
}
#define HANDED_BUTTON_TEST_IMPL(JoystickType, HandType, ButtonName) \
TEST(JoystickType##Tests, Get##HandType##ButtonName##Button) { \
JoystickType joy{1}; \
sim::JoystickType##Sim joysim{joy}; \
\
joysim.Set##ButtonName(JoystickType::HandType, false); \
joysim.NotifyNewData(); \
ASSERT_FALSE(joy.Get##ButtonName(JoystickType::HandType)); \
/* need to call pressed and released to clear flags */ \
joy.Get##ButtonName##Pressed(JoystickType::HandType); \
joy.Get##ButtonName##Released(JoystickType::HandType); \
\
joysim.Set##ButtonName(JoystickType::HandType, true); \
joysim.NotifyNewData(); \
ASSERT_TRUE(joy.Get##ButtonName(JoystickType::HandType)); \
ASSERT_TRUE(joy.Get##ButtonName##Pressed(JoystickType::HandType)); \
ASSERT_FALSE(joy.Get##ButtonName##Released(JoystickType::HandType)); \
\
joysim.Set##ButtonName(JoystickType::HandType, false); \
joysim.NotifyNewData(); \
ASSERT_FALSE(joy.Get##ButtonName(JoystickType::HandType)); \
ASSERT_FALSE(joy.Get##ButtonName##Pressed(JoystickType::HandType)); \
ASSERT_TRUE(joy.Get##ButtonName##Released(JoystickType::HandType)); \
}
#define HANDED_BUTTON_TEST(JoystickType, ButtonName) \
HANDED_BUTTON_TEST_IMPL(JoystickType, kLeftHand, ButtonName) \
HANDED_BUTTON_TEST_IMPL(JoystickType, kRightHand, ButtonName)