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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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wpilibc/src/test/native/cpp/simulation/EncoderSimTest.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/EncoderSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/Encoder.h"
#include "gtest/gtest.h"
namespace frc::sim {
namespace {
constexpr double kDefaultDistancePerPulse = .0005;
} // namespace
TEST(EncoderSimTest, Initialize) {
HAL_Initialize(500, 0);
EncoderSim sim = EncoderSim::CreateForIndex(0);
sim.ResetData();
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
Encoder encoder(0, 1);
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(EncoderSimTest, Rate) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
sim.SetRate(1.91);
EXPECT_EQ(1.91, sim.GetRate());
}
TEST(EncoderSimTest, Count) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
IntCallback callback;
auto cb = sim.RegisterCountCallback(callback.GetCallback(), false);
sim.SetCount(3504);
EXPECT_EQ(3504, sim.GetCount());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(3504, encoder.Get());
EXPECT_EQ(3504, callback.GetLastValue());
}
TEST(EncoderSimTest, Distance) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
sim.SetDistance(229.174);
EXPECT_EQ(229.174, sim.GetDistance());
EXPECT_EQ(229.174, encoder.GetDistance());
}
TEST(EncoderSimTest, Period) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
DoubleCallback callback;
auto cb = sim.RegisterPeriodCallback(callback.GetCallback(), false);
sim.SetPeriod(123.456);
EXPECT_EQ(123.456, sim.GetPeriod());
EXPECT_EQ(123.456, encoder.GetPeriod().to<double>());
EXPECT_EQ(kDefaultDistancePerPulse / 123.456, encoder.GetRate());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(123.456, callback.GetLastValue());
}
TEST(EncoderSimTest, SetMaxPeriod) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
DoubleCallback callback;
auto cb = sim.RegisterMaxPeriodCallback(callback.GetCallback(), false);
encoder.SetMaxPeriod(units::second_t{123.456});
EXPECT_EQ(123.456, sim.GetMaxPeriod());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(123.456, callback.GetLastValue());
}
TEST(EncoderSimTest, SetDirection) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
BooleanCallback callback;
auto cb = sim.RegisterDirectionCallback(callback.GetCallback(), false);
sim.SetDirection(true);
EXPECT_TRUE(sim.GetDirection());
EXPECT_TRUE(encoder.GetDirection());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
sim.SetDirection(false);
EXPECT_FALSE(sim.GetDirection());
EXPECT_FALSE(encoder.GetDirection());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_FALSE(callback.GetLastValue());
}
TEST(EncoderSimTest, SetReverseDirection) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
BooleanCallback callback;
auto cb = sim.RegisterReverseDirectionCallback(callback.GetCallback(), false);
encoder.SetReverseDirection(true);
EXPECT_TRUE(sim.GetReverseDirection());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
encoder.SetReverseDirection(false);
EXPECT_FALSE(sim.GetReverseDirection());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_FALSE(callback.GetLastValue());
}
TEST(EncoderSimTest, SetSamplesToAverage) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
IntCallback callback;
auto cb = sim.RegisterSamplesToAverageCallback(callback.GetCallback(), false);
encoder.SetSamplesToAverage(57);
EXPECT_EQ(57, sim.GetSamplesToAverage());
EXPECT_EQ(57, encoder.GetSamplesToAverage());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(57, callback.GetLastValue());
}
TEST(EncoderSimTest, SetDistancePerPulse) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
DoubleCallback callback;
auto cb = sim.RegisterDistancePerPulseCallback(callback.GetCallback(), false);
encoder.SetDistancePerPulse(.03405);
EXPECT_EQ(.03405, sim.GetDistancePerPulse());
EXPECT_EQ(.03405, encoder.GetDistancePerPulse());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(.03405, callback.GetLastValue());
}
TEST(EncoderSimTest, Reset) {
HAL_Initialize(500, 0);
Encoder encoder(0, 1);
EncoderSim sim(encoder);
sim.ResetData();
encoder.SetDistancePerPulse(kDefaultDistancePerPulse);
BooleanCallback callback;
auto cb = sim.RegisterResetCallback(callback.GetCallback(), false);
sim.SetCount(3504);
sim.SetDistance(229.191);
encoder.Reset();
EXPECT_TRUE(sim.GetReset());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
EXPECT_EQ(0, sim.GetCount());
EXPECT_EQ(0, encoder.Get());
EXPECT_EQ(0, sim.GetDistance());
EXPECT_EQ(0, encoder.GetDistance());
}
} // namespace frc::sim