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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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70
wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.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/DutyCycleSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/DigitalInput.h"
#include "frc/DutyCycle.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(DutyCycleSimTest, Initialization) {
HAL_Initialize(500, 0);
DutyCycleSim sim = DutyCycleSim::CreateForIndex(0);
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
DigitalInput di{2};
DutyCycle dc{&di};
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
callback.Reset();
sim.SetInitialized(false);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_FALSE(callback.GetLastValue());
}
TEST(DutyCycleSimTest, SetFrequency) {
HAL_Initialize(500, 0);
DigitalInput di{2};
DutyCycle dc{di};
DutyCycleSim sim(dc);
IntCallback callback;
auto cb = sim.RegisterFrequencyCallback(callback.GetCallback(), false);
sim.SetFrequency(191);
EXPECT_EQ(191, sim.GetFrequency());
EXPECT_EQ(191, dc.GetFrequency());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(191, callback.GetLastValue());
}
TEST(DutyCycleSimTest, SetOutput) {
HAL_Initialize(500, 0);
DigitalInput di{2};
DutyCycle dc{di};
DutyCycleSim sim(dc);
DoubleCallback callback;
auto cb = sim.RegisterOutputCallback(callback.GetCallback(), false);
sim.SetOutput(229.174);
EXPECT_EQ(229.174, sim.GetOutput());
EXPECT_EQ(229.174, dc.GetOutput());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(229.174, callback.GetLastValue());
}
} // namespace frc::sim