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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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wpilibc/src/test/native/cpp/simulation/AnalogGyroSimTest.cpp 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.
#include "frc/simulation/AnalogGyroSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/AnalogGyro.h"
#include "frc/AnalogInput.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(AnalogGyroSimTest, InitializeGyro) {
HAL_Initialize(500, 0);
AnalogGyroSim sim{0};
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback initializedCallback;
auto cb =
sim.RegisterInitializedCallback(initializedCallback.GetCallback(), false);
AnalogGyro gyro(0);
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(initializedCallback.WasTriggered());
EXPECT_TRUE(initializedCallback.GetLastValue());
}
TEST(AnalogGyroSimTest, SetAngle) {
HAL_Initialize(500, 0);
AnalogGyroSim sim{0};
DoubleCallback callback;
AnalogInput ai(0);
AnalogGyro gyro(&ai);
auto cb = sim.RegisterAngleCallback(callback.GetCallback(), false);
EXPECT_EQ(0, gyro.GetAngle());
constexpr double kTestAngle = 35.04;
sim.SetAngle(kTestAngle);
EXPECT_EQ(kTestAngle, sim.GetAngle());
EXPECT_EQ(kTestAngle, gyro.GetAngle());
EXPECT_EQ(-kTestAngle, gyro.GetRotation2d().Degrees().to<double>());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestAngle, callback.GetLastValue());
}
TEST(AnalogGyroSimTest, SetRate) {
HAL_Initialize(500, 0);
AnalogGyroSim sim{0};
DoubleCallback callback;
std::shared_ptr<AnalogInput> ai(new AnalogInput(0));
AnalogGyro gyro(ai);
auto cb = sim.RegisterRateCallback(callback.GetCallback(), false);
EXPECT_EQ(0, gyro.GetRate());
constexpr double kTestRate = -19.1;
sim.SetRate(kTestRate);
EXPECT_EQ(kTestRate, sim.GetRate());
EXPECT_EQ(kTestRate, gyro.GetRate());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestRate, callback.GetLastValue());
}
TEST(AnalogGyroSimTest, Reset) {
HAL_Initialize(500, 0);
AnalogInput ai{0};
AnalogGyro gyro(&ai);
AnalogGyroSim sim(gyro);
sim.SetAngle(12.34);
sim.SetRate(43.21);
sim.ResetData();
EXPECT_EQ(0, sim.GetAngle());
EXPECT_EQ(0, sim.GetRate());
EXPECT_EQ(0, gyro.GetAngle());
EXPECT_EQ(0, gyro.GetRate());
}
} // namespace frc::sim