[wpilibc] Add more unit tests (#3494)

wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.h

@@ -0,0 +1,64 @@
+// 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.
+
+#pragma once
+
+#include <functional>
+#include <string_view>
+
+#include <hal/Value.h>
+
+namespace frc::sim {
+
+template <typename ValueType>
+class BaseCallbackHelper {
+ public:
+  bool WasTriggered() const { return m_wasTriggered; }
+  ValueType GetLastValue() const { return m_lastValue; }
+
+  void Reset() {
+    m_wasTriggered = false;
+    m_lastValue = 0;
+  }
+
+  virtual void HandleCallback(std::string_view name,
+                              const HAL_Value* value) = 0;
+
+  std::function<void(std::string_view, const HAL_Value*)> GetCallback() {
+    return [&](std::string_view name, const HAL_Value* value) {
+      HandleCallback(name, value);
+    };
+  }
+
+ protected:
+  bool m_wasTriggered{false};
+  ValueType m_lastValue{0};
+};
+
+class BooleanCallback : public BaseCallbackHelper<bool> {
+ public:
+  void HandleCallback(std::string_view name, const HAL_Value* value) override;
+};
+
+class EnumCallback : public BaseCallbackHelper<int32_t> {
+ public:
+  void HandleCallback(std::string_view name, const HAL_Value* value) override;
+};
+
+class IntCallback : public BaseCallbackHelper<int32_t> {
+ public:
+  void HandleCallback(std::string_view name, const HAL_Value* value) override;
+};
+
+class LongCallback : public BaseCallbackHelper<int64_t> {
+ public:
+  void HandleCallback(std::string_view name, const HAL_Value* value) override;
+};
+
+class DoubleCallback : public BaseCallbackHelper<double> {
+ public:
+  void HandleCallback(std::string_view name, const HAL_Value* value) override;
+};
+
+}  // namespace frc::sim