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https://github.com/wpilibsuite/allwpilib
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[wpilibc] Add more unit tests (#3494)
This commit is contained in:
PJ Reiniger
238
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
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238
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <string>
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#include <tuple>
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#include "callback_helpers/TestCallbackHelpers.h"
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#include "frc/DriverStation.h"
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#include "frc/Joystick.h"
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#include "frc/RobotState.h"
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#include "frc/simulation/DriverStationSim.h"
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#include "frc/simulation/SimHooks.h"
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#include "gtest/gtest.h"
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using namespace frc;
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using namespace frc::sim;
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TEST(DriverStationTest, Enabled) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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EXPECT_FALSE(DriverStation::IsEnabled());
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BooleanCallback callback;
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auto cb =
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DriverStationSim::RegisterEnabledCallback(callback.GetCallback(), false);
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DriverStationSim::SetEnabled(true);
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DriverStationSim::NotifyNewData();
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EXPECT_TRUE(DriverStationSim::GetEnabled());
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EXPECT_TRUE(DriverStation::IsEnabled());
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EXPECT_TRUE(RobotState::IsEnabled());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(DriverStationTest, AutonomousMode) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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EXPECT_FALSE(DriverStation::IsAutonomous());
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BooleanCallback callback;
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auto cb = DriverStationSim::RegisterAutonomousCallback(callback.GetCallback(),
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false);
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DriverStationSim::SetAutonomous(true);
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DriverStationSim::NotifyNewData();
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EXPECT_TRUE(DriverStationSim::GetAutonomous());
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EXPECT_TRUE(DriverStation::IsAutonomous());
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EXPECT_TRUE(RobotState::IsAutonomous());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(DriverStationTest, TestMode) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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EXPECT_FALSE(DriverStation::IsTest());
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BooleanCallback callback;
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auto cb =
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DriverStationSim::RegisterTestCallback(callback.GetCallback(), false);
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DriverStationSim::SetTest(true);
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DriverStationSim::NotifyNewData();
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EXPECT_TRUE(DriverStationSim::GetTest());
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EXPECT_TRUE(DriverStation::IsTest());
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EXPECT_TRUE(RobotState::IsTest());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(DriverStationTest, Estop) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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EXPECT_FALSE(DriverStation::IsEStopped());
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BooleanCallback callback;
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auto cb =
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DriverStationSim::RegisterEStopCallback(callback.GetCallback(), false);
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DriverStationSim::SetEStop(true);
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DriverStationSim::NotifyNewData();
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EXPECT_TRUE(DriverStationSim::GetEStop());
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EXPECT_TRUE(DriverStation::IsEStopped());
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EXPECT_TRUE(RobotState::IsEStopped());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(DriverStationTest, FmsAttached) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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EXPECT_FALSE(DriverStation::IsFMSAttached());
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BooleanCallback callback;
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auto cb = DriverStationSim::RegisterFmsAttachedCallback(
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callback.GetCallback(), false);
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DriverStationSim::SetFmsAttached(true);
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DriverStationSim::NotifyNewData();
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EXPECT_TRUE(DriverStationSim::GetFmsAttached());
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EXPECT_TRUE(DriverStation::IsFMSAttached());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(DriverStationTest, DsAttached) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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DriverStationSim::NotifyNewData();
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EXPECT_TRUE(DriverStation::IsDSAttached());
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BooleanCallback callback;
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auto cb = DriverStationSim::RegisterDsAttachedCallback(callback.GetCallback(),
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false);
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DriverStationSim::SetDsAttached(false);
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DriverStationSim::NotifyNewData();
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EXPECT_FALSE(DriverStationSim::GetDsAttached());
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EXPECT_FALSE(DriverStation::IsDSAttached());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_FALSE(callback.GetLastValue());
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}
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TEST(DriverStationTest, AllianceStationId) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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EnumCallback callback;
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HAL_AllianceStationID allianceStation = HAL_AllianceStationID_kBlue2;
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DriverStationSim::SetAllianceStationId(allianceStation);
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auto cb = DriverStationSim::RegisterAllianceStationIdCallback(
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callback.GetCallback(), false);
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// B1
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allianceStation = HAL_AllianceStationID_kBlue1;
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DriverStationSim::SetAllianceStationId(allianceStation);
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EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
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EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
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EXPECT_EQ(1, DriverStation::GetLocation());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(allianceStation, callback.GetLastValue());
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// B2
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allianceStation = HAL_AllianceStationID_kBlue2;
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DriverStationSim::SetAllianceStationId(allianceStation);
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EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
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EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
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EXPECT_EQ(2, DriverStation::GetLocation());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(allianceStation, callback.GetLastValue());
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// B3
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allianceStation = HAL_AllianceStationID_kBlue3;
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DriverStationSim::SetAllianceStationId(allianceStation);
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EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
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EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
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EXPECT_EQ(3, DriverStation::GetLocation());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(allianceStation, callback.GetLastValue());
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// R1
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allianceStation = HAL_AllianceStationID_kRed1;
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DriverStationSim::SetAllianceStationId(allianceStation);
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EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
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EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
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EXPECT_EQ(1, DriverStation::GetLocation());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(allianceStation, callback.GetLastValue());
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// R2
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allianceStation = HAL_AllianceStationID_kRed2;
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DriverStationSim::SetAllianceStationId(allianceStation);
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EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
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EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
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EXPECT_EQ(2, DriverStation::GetLocation());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(allianceStation, callback.GetLastValue());
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// R3
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allianceStation = HAL_AllianceStationID_kRed3;
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DriverStationSim::SetAllianceStationId(allianceStation);
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EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
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EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
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EXPECT_EQ(3, DriverStation::GetLocation());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(allianceStation, callback.GetLastValue());
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}
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TEST(DriverStationTest, ReplayNumber) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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DriverStationSim::SetReplayNumber(4);
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DriverStationSim::NotifyNewData();
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EXPECT_EQ(4, DriverStation::GetReplayNumber());
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}
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TEST(DriverStationTest, MatchNumber) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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DriverStationSim::SetMatchNumber(3);
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DriverStationSim::NotifyNewData();
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EXPECT_EQ(3, DriverStation::GetMatchNumber());
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}
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TEST(DriverStationTest, MatchTime) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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DoubleCallback callback;
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auto cb = DriverStationSim::RegisterMatchTimeCallback(callback.GetCallback(),
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false);
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constexpr double kTestTime = 19.174;
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DriverStationSim::SetMatchTime(kTestTime);
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EXPECT_EQ(kTestTime, DriverStationSim::GetMatchTime());
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EXPECT_EQ(kTestTime, DriverStation::GetMatchTime());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(kTestTime, callback.GetLastValue());
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}
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TEST(DriverStationTest, SetGameSpecificMessage) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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constexpr auto message = "Hello World!";
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DriverStationSim::SetGameSpecificMessage(message);
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DriverStationSim::NotifyNewData();
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EXPECT_EQ(message, DriverStation::GetGameSpecificMessage());
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}
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TEST(DriverStationTest, SetEventName) {
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HAL_Initialize(500, 0);
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DriverStationSim::ResetData();
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constexpr auto message = "The Best Event";
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DriverStationSim::SetEventName(message);
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DriverStationSim::NotifyNewData();
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EXPECT_EQ(message, DriverStation::GetEventName());
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}
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