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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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80
wpilibc/src/test/native/cpp/simulation/DIOSimTest.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/DIOSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalOutput.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(DIOSimTest, Initialization) {
HAL_Initialize(500, 0);
DIOSim sim{2};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback initializeCallback;
BooleanCallback isInputCallback;
auto initializeCb =
sim.RegisterInitializedCallback(initializeCallback.GetCallback(), false);
auto inputCb =
sim.RegisterIsInputCallback(isInputCallback.GetCallback(), false);
DigitalOutput output(2);
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(initializeCallback.WasTriggered());
EXPECT_TRUE(initializeCallback.GetLastValue());
EXPECT_FALSE(sim.GetIsInput());
EXPECT_TRUE(isInputCallback.WasTriggered());
EXPECT_FALSE(isInputCallback.GetLastValue());
initializeCallback.Reset();
sim.SetInitialized(false);
EXPECT_TRUE(initializeCallback.WasTriggered());
EXPECT_FALSE(initializeCallback.GetLastValue());
}
TEST(DIOSimTest, Input) {
HAL_Initialize(500, 0);
DigitalInput input{0};
DIOSim sim(input);
EXPECT_TRUE(sim.GetIsInput());
BooleanCallback valueCallback;
auto cb = sim.RegisterValueCallback(valueCallback.GetCallback(), false);
EXPECT_TRUE(input.Get());
EXPECT_TRUE(sim.GetValue());
EXPECT_FALSE(valueCallback.WasTriggered());
sim.SetValue(false);
EXPECT_TRUE(valueCallback.WasTriggered());
EXPECT_FALSE(valueCallback.GetLastValue());
}
TEST(DIOSimTest, Output) {
HAL_Initialize(500, 0);
DigitalOutput output{0};
DIOSim sim(output);
EXPECT_FALSE(sim.GetIsInput());
BooleanCallback valueCallback;
auto cb = sim.RegisterValueCallback(valueCallback.GetCallback(), false);
EXPECT_FALSE(output.Get());
EXPECT_FALSE(sim.GetValue());
EXPECT_FALSE(valueCallback.WasTriggered());
output.Set(true);
EXPECT_TRUE(valueCallback.WasTriggered());
EXPECT_TRUE(valueCallback.GetLastValue());
}
} // namespace frc::sim