[wpilibc] Add more unit tests (#3494)

2026-06-21 01:01:43 +00:00 · 2021-08-05 22:04:51 -04:00
parent b253246959
commit 94e0db7963
30 changed files with 2588 additions and 89 deletions
--- a/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
@@ -0,0 +1,129 @@
+// 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/AddressableLEDSim.h"  // NOLINT(build/include_order)
+
+#include <hal/HAL.h>
+
+#include "callback_helpers/TestCallbackHelpers.h"
+#include "frc/AddressableLED.h"
+#include "gtest/gtest.h"
+
+namespace frc::sim {
+
+TEST(AddressableLEDSimTest, InitializationCallback) {
+  HAL_Initialize(500, 0);
+
+  BooleanCallback callback;
+  AddressableLEDSim sim;
+  auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
+
+  EXPECT_FALSE(callback.WasTriggered());
+  AddressableLED led{0};
+
+  EXPECT_TRUE(sim.GetInitialized());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(AddressableLEDSimTest, SetLength) {
+  HAL_Initialize(500, 0);
+
+  AddressableLED led{0};
+  AddressableLEDSim sim{led};
+  IntCallback callback;
+
+  auto cb = sim.RegisterLengthCallback(callback.GetCallback(), false);
+
+  EXPECT_EQ(1, sim.GetLength());  // Defaults to 1 led
+
+  std::array<AddressableLED::LEDData, 50> ledData;
+  led.SetLength(ledData.max_size());
+  led.SetData(ledData);
+
+  EXPECT_EQ(50, sim.GetLength());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_EQ(50, callback.GetLastValue());
+}
+
+TEST(AddressableLEDSimTest, SetRunning) {
+  HAL_Initialize(500, 0);
+
+  AddressableLEDSim sim = AddressableLEDSim::CreateForIndex(0);
+  BooleanCallback callback;
+  auto cb = sim.RegisterRunningCallback(callback.GetCallback(), false);
+  AddressableLED led{0};
+
+  EXPECT_FALSE(sim.GetRunning());
+
+  led.Start();
+  EXPECT_TRUE(sim.GetRunning());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+
+  callback.Reset();
+  led.Stop();
+  EXPECT_FALSE(sim.GetRunning());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_FALSE(callback.GetLastValue());
+}
+
+TEST(AddressableLEDSimTest, SetData) {
+  AddressableLED led{0};
+  AddressableLEDSim sim = AddressableLEDSim::CreateForChannel(0);
+
+  bool callbackHit = false;
+  std::array<AddressableLED::LEDData, 3> setData;
+  auto cb = sim.RegisterDataCallback(
+      [&](std::string_view, const unsigned char* buffer, unsigned int count) {
+        ASSERT_EQ(count, 12u);
+        EXPECT_EQ(0, buffer[0]);
+        EXPECT_EQ(0, buffer[1]);
+        EXPECT_EQ(255u, buffer[2]);
+        EXPECT_EQ(0, buffer[3]);
+
+        EXPECT_EQ(0, buffer[4]);
+        EXPECT_EQ(255u, buffer[5]);
+        EXPECT_EQ(0, buffer[6]);
+        EXPECT_EQ(0, buffer[7]);
+
+        EXPECT_EQ(255u, buffer[8]);
+        EXPECT_EQ(0, buffer[9]);
+        EXPECT_EQ(0, buffer[10]);
+        EXPECT_EQ(0, buffer[11]);
+
+        callbackHit = true;
+      },
+      false);
+
+  std::array<AddressableLED::LEDData, 3> ledData;
+  led.SetLength(ledData.max_size());
+
+  ledData[0].SetRGB(255, 0, 0);
+  ledData[1].SetRGB(0, 255, 0);
+  ledData[2].SetRGB(0, 0, 255);
+  led.SetData(ledData);
+
+  EXPECT_TRUE(callbackHit);
+
+  std::array<HAL_AddressableLEDData, 3> simData;
+  sim.GetData(simData.data());
+
+  EXPECT_EQ(0xFF, simData[0].r);
+  EXPECT_EQ(0x00, simData[0].g);
+  EXPECT_EQ(0x00, simData[0].b);
+  EXPECT_EQ(0x00, simData[0].padding);
+
+  EXPECT_EQ(0x00, simData[1].r);
+  EXPECT_EQ(0xFF, simData[1].g);
+  EXPECT_EQ(0x00, simData[1].b);
+  EXPECT_EQ(0x00, simData[1].padding);
+
+  EXPECT_EQ(0x00, simData[2].r);
+  EXPECT_EQ(0x00, simData[2].g);
+  EXPECT_EQ(0xFF, simData[2].b);
+  EXPECT_EQ(0x00, simData[2].padding);
+}
+
+}  // namespace frc::sim