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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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70
wpilibc/src/test/native/cpp/XboxControllerTest.cpp
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@@ -4,68 +4,22 @@
#include "frc/XboxController.h" // NOLINT(build/include_order)
#include "JoystickTestMacros.h"
#include "frc/simulation/XboxControllerSim.h"
#include "gtest/gtest.h"
using namespace frc;
TEST(XboxControllerTests, GetX) {
XboxController joy{2};
sim::XboxControllerSim joysim{joy};
HANDED_BUTTON_TEST(XboxController, Bumper)
HANDED_BUTTON_TEST(XboxController, StickButton)
joysim.SetX(XboxController::kLeftHand, 0.35);
joysim.SetX(XboxController::kRightHand, 0.45);
joysim.NotifyNewData();
ASSERT_NEAR(joy.GetX(XboxController::kLeftHand), 0.35, 0.001);
ASSERT_NEAR(joy.GetX(XboxController::kRightHand), 0.45, 0.001);
}
BUTTON_TEST(XboxController, AButton)
BUTTON_TEST(XboxController, BButton)
BUTTON_TEST(XboxController, XButton)
BUTTON_TEST(XboxController, YButton)
BUTTON_TEST(XboxController, BackButton)
BUTTON_TEST(XboxController, StartButton)
TEST(XboxControllerTests, GetBumper) {
XboxController joy{1};
sim::XboxControllerSim joysim{joy};
joysim.SetBumper(XboxController::kLeftHand, false);
joysim.SetBumper(XboxController::kRightHand, true);
joysim.NotifyNewData();
ASSERT_FALSE(joy.GetBumper(XboxController::kLeftHand));
ASSERT_TRUE(joy.GetBumper(XboxController::kRightHand));
// need to call pressed and released to clear flags
joy.GetBumperPressed(XboxController::kLeftHand);
joy.GetBumperReleased(XboxController::kLeftHand);
joy.GetBumperPressed(XboxController::kRightHand);
joy.GetBumperReleased(XboxController::kRightHand);
joysim.SetBumper(XboxController::kLeftHand, true);
joysim.SetBumper(XboxController::kRightHand, false);
joysim.NotifyNewData();
ASSERT_TRUE(joy.GetBumper(XboxController::kLeftHand));
ASSERT_TRUE(joy.GetBumperPressed(XboxController::kLeftHand));
ASSERT_FALSE(joy.GetBumperReleased(XboxController::kLeftHand));
ASSERT_FALSE(joy.GetBumper(XboxController::kRightHand));
ASSERT_FALSE(joy.GetBumperPressed(XboxController::kRightHand));
ASSERT_TRUE(joy.GetBumperReleased(XboxController::kRightHand));
}
TEST(XboxControllerTests, GetAButton) {
XboxController joy{1};
sim::XboxControllerSim joysim{joy};
joysim.SetAButton(false);
joysim.NotifyNewData();
ASSERT_FALSE(joy.GetAButton());
// need to call pressed and released to clear flags
joy.GetAButtonPressed();
joy.GetAButtonReleased();
joysim.SetAButton(true);
joysim.NotifyNewData();
ASSERT_TRUE(joy.GetAButton());
ASSERT_TRUE(joy.GetAButtonPressed());
ASSERT_FALSE(joy.GetAButtonReleased());
joysim.SetAButton(false);
joysim.NotifyNewData();
ASSERT_FALSE(joy.GetAButton());
ASSERT_FALSE(joy.GetAButtonPressed());
ASSERT_TRUE(joy.GetAButtonReleased());
}
HANDED_AXIS_TEST(XboxController, X)
HANDED_AXIS_TEST(XboxController, Y)
HANDED_AXIS_TEST(XboxController, TriggerAxis)