Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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

120
wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp Normal file
View File

@@ -0,0 +1,120 @@
// 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/PWMSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/PWM.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(PWMSimTest, Initialize) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
PWM pwm{0};
EXPECT_TRUE(sim.GetInitialized());
}
TEST(PWMSimTest, SetRawValue) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
IntCallback callback;
auto cb = sim.RegisterRawValueCallback(callback.GetCallback(), false);
PWM pwm{0};
sim.SetRawValue(229);
EXPECT_EQ(229, sim.GetRawValue());
EXPECT_EQ(229, pwm.GetRaw());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(229, callback.GetLastValue());
}
TEST(PWMSimTest, SetSpeed) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
DoubleCallback callback;
auto cb = sim.RegisterSpeedCallback(callback.GetCallback(), false);
PWM pwm{0};
constexpr double kTestValue = 0.3504;
pwm.SetSpeed(kTestValue);
EXPECT_EQ(kTestValue, sim.GetSpeed());
EXPECT_EQ(kTestValue, pwm.GetSpeed());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(PWMSimTest, SetPosition) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
DoubleCallback callback;
auto cb = sim.RegisterPositionCallback(callback.GetCallback(), false);
PWM pwm{0};
constexpr double kTestValue = 0.3504;
pwm.SetPosition(kTestValue);
EXPECT_EQ(kTestValue, sim.GetPosition());
EXPECT_EQ(kTestValue, pwm.GetPosition());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(PWMSimTest, SetPeriodScale) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
IntCallback callback;
auto cb = sim.RegisterPeriodScaleCallback(callback.GetCallback(), false);
PWM pwm{0};
sim.SetPeriodScale(3504);
EXPECT_EQ(3504, sim.GetPeriodScale());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(3504, callback.GetLastValue());
}
TEST(PWMSimTest, SetZeroLatch) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback callback;
auto cb = sim.RegisterZeroLatchCallback(callback.GetCallback(), false);
PWM pwm{0};
pwm.SetZeroLatch();
EXPECT_TRUE(callback.WasTriggered());
}
} // namespace frc::sim