Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilibc] Add more unit tests (#3494)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

82
wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp Normal file
View File

@@ -0,0 +1,82 @@
// 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/PowerDistributionSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/PowerDistribution.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(PowerDistributionSimTest, Initialize) {
HAL_Initialize(500, 0);
PowerDistributionSim sim{2};
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
PowerDistribution pdp(2);
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(PowerDistributionSimTest, SetTemperature) {
HAL_Initialize(500, 0);
PowerDistribution pdp{2};
PowerDistributionSim sim(pdp);
DoubleCallback callback;
auto cb = sim.RegisterTemperatureCallback(callback.GetCallback(), false);
sim.SetTemperature(35.04);
EXPECT_EQ(35.04, sim.GetTemperature());
EXPECT_EQ(35.04, pdp.GetTemperature());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(PowerDistributionSimTest, SetVoltage) {
HAL_Initialize(500, 0);
PowerDistribution pdp{2};
PowerDistributionSim sim(pdp);
DoubleCallback callback;
auto cb = sim.RegisterVoltageCallback(callback.GetCallback(), false);
sim.SetVoltage(35.04);
EXPECT_EQ(35.04, sim.GetVoltage());
EXPECT_EQ(35.04, pdp.GetVoltage());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(PowerDistributionSimTest, SetCurrent) {
HAL_Initialize(500, 0);
PowerDistribution pdp{2};
PowerDistributionSim sim(pdp);
for (int channel = 0; channel < HAL_GetNumPDPChannels(); ++channel) {
DoubleCallback callback;
auto cb =
sim.RegisterCurrentCallback(channel, callback.GetCallback(), false);
const double kTestCurrent = 35.04 + channel;
sim.SetCurrent(channel, kTestCurrent);
EXPECT_EQ(kTestCurrent, sim.GetCurrent(channel));
EXPECT_EQ(kTestCurrent, pdp.GetCurrent(channel));
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
}
} // namespace frc::sim