[wpilibc] Add more unit tests (#3494)

wpilibc/src/test/native/cpp/simulation/AnalogTriggerSimTest.cpp

@@ -0,0 +1,55 @@
+// 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/AnalogTriggerSim.h"  // NOLINT(build/include_order)
+
+#include <hal/HAL.h>
+
+#include "callback_helpers/TestCallbackHelpers.h"
+#include "frc/AnalogTrigger.h"
+#include "gtest/gtest.h"
+
+namespace frc::sim {
+
+TEST(AnalogTriggerSimTest, Initialization) {
+  HAL_Initialize(500, 0);
+
+  AnalogTriggerSim sim = AnalogTriggerSim::CreateForIndex(0);
+  EXPECT_FALSE(sim.GetInitialized());
+
+  BooleanCallback callback;
+  auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
+
+  AnalogTrigger trigger{0};
+  EXPECT_TRUE(sim.GetInitialized());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(AnalogTriggerSimTest, TriggerLowerBound) {
+  HAL_Initialize(500, 0);
+
+  AnalogTrigger trigger{0};
+  AnalogTriggerSim sim(trigger);
+
+  DoubleCallback lowerCallback;
+  DoubleCallback upperCallback;
+  auto lowerCb =
+      sim.RegisterTriggerLowerBoundCallback(lowerCallback.GetCallback(), false);
+  auto upperCb =
+      sim.RegisterTriggerUpperBoundCallback(upperCallback.GetCallback(), false);
+
+  trigger.SetLimitsVoltage(0.299, 1.91);
+
+  EXPECT_EQ(0.299, sim.GetTriggerLowerBound());
+  EXPECT_EQ(1.91, sim.GetTriggerUpperBound());
+
+  EXPECT_TRUE(lowerCallback.WasTriggered());
+  EXPECT_EQ(0.299, lowerCallback.GetLastValue());
+
+  EXPECT_TRUE(upperCallback.WasTriggered());
+  EXPECT_EQ(1.91, upperCallback.GetLastValue());
+}
+
+}  // namespace frc::sim