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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/AnalogOutputSimTest.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/AnalogOutputSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/AnalogOutput.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(AnalogOutputSimTest, Initialize) {
HAL_Initialize(500, 0);
AnalogOutputSim outputSim{0};
EXPECT_FALSE(outputSim.GetInitialized());
BooleanCallback callback;
auto cb =
outputSim.RegisterInitializedCallback(callback.GetCallback(), false);
AnalogOutput output(0);
EXPECT_TRUE(outputSim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(AnalogOutputSimTest, SetCallback) {
HAL_Initialize(500, 0);
AnalogOutput output{0};
output.SetVoltage(0.5);
AnalogOutputSim outputSim(output);
DoubleCallback voltageCallback;
auto cb =
outputSim.RegisterVoltageCallback(voltageCallback.GetCallback(), false);
EXPECT_FALSE(voltageCallback.WasTriggered());
for (int i = 0; i < 50; ++i) {
double voltage = i * .1;
voltageCallback.Reset();
output.SetVoltage(0);
EXPECT_EQ(0, output.GetVoltage());
EXPECT_EQ(0, outputSim.GetVoltage());
// 0 -> 0 isn't a change, so callback not called
if (i > 2) {
EXPECT_TRUE(voltageCallback.WasTriggered()) << " on " << i;
EXPECT_NEAR(voltageCallback.GetLastValue(), 0, 0.001) << " on " << i;
}
voltageCallback.Reset();
output.SetVoltage(voltage);
EXPECT_EQ(voltage, output.GetVoltage());
EXPECT_EQ(voltage, outputSim.GetVoltage());
// 0 -> 0 isn't a change, so callback not called
if (i != 0) {
EXPECT_TRUE(voltageCallback.WasTriggered());
EXPECT_NEAR(voltageCallback.GetLastValue(), voltage, 0.001);
}
}
}
TEST(AnalogOutputSimTest, Reset) {
HAL_Initialize(500, 0);
AnalogOutputSim outputSim{0};
AnalogOutput output{0};
output.SetVoltage(1.2);
outputSim.ResetData();
EXPECT_EQ(0, output.GetVoltage());
EXPECT_EQ(0, outputSim.GetVoltage());
}
} // namespace frc::sim