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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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57
wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.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/DigitalPWMSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/DigitalOutput.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(DigitalPWMSimTest, Initialize) {
HAL_Initialize(500, 0);
DigitalOutput output{0};
DigitalPWMSim sim(output);
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback initializeCallback;
auto initCb =
sim.RegisterInitializedCallback(initializeCallback.GetCallback(), false);
DoubleCallback dutyCycleCallback;
auto dutyCycleCB =
sim.RegisterDutyCycleCallback(dutyCycleCallback.GetCallback(), false);
constexpr double kTestDutyCycle = 0.191;
output.EnablePWM(kTestDutyCycle);
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(initializeCallback.WasTriggered());
EXPECT_TRUE(initializeCallback.GetLastValue());
EXPECT_EQ(kTestDutyCycle, sim.GetDutyCycle());
EXPECT_TRUE(dutyCycleCallback.WasTriggered());
EXPECT_EQ(kTestDutyCycle, dutyCycleCallback.GetLastValue());
}
TEST(DigitalPWMSimTest, SetPin) {
HAL_Initialize(500, 0);
DigitalOutput output{2};
DigitalPWMSim sim(output);
IntCallback callback;
auto cb = sim.RegisterPinCallback(callback.GetCallback(), false);
sim.SetPin(191);
EXPECT_EQ(191, sim.GetPin());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(191, callback.GetLastValue());
}
} // namespace frc::sim