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[sim] Add joystick simulation support (#2595)

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This adds joystick functions to DriverStationSim, and new GenericHIDSim,
JoystickSim, and XboxControllerSim classes.
This commit is contained in:
Peter Johnson
2020-07-15 00:33:57 -07:00
committed by GitHub
parent b06ddcdd86
commit b9feb81226
19 changed files with 1979 additions and 19 deletions
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74
wpilibc/src/test/native/cpp/XboxControllerTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/XboxController.h" // NOLINT(build/include_order)
#include "frc/simulation/XboxControllerSim.h"
#include "gtest/gtest.h"
using namespace frc;
TEST(XboxControllerTests, GetX) {
XboxController joy{2};
sim::XboxControllerSim joysim{joy};
joysim.SetX(XboxController::kLeftHand, 0.35);
joysim.SetX(XboxController::kRightHand, 0.45);
joysim.NotifyNewData();
ASSERT_NEAR(joy.GetX(XboxController::kLeftHand), 0.35, 0.001);
ASSERT_NEAR(joy.GetX(XboxController::kRightHand), 0.45, 0.001);
}
TEST(XboxControllerTests, GetBumper) {
XboxController joy{1};
sim::XboxControllerSim joysim{joy};
joysim.SetBumper(XboxController::kLeftHand, false);
joysim.SetBumper(XboxController::kRightHand, true);
joysim.NotifyNewData();
ASSERT_FALSE(joy.GetBumper(XboxController::kLeftHand));
ASSERT_TRUE(joy.GetBumper(XboxController::kRightHand));
// need to call pressed and released to clear flags
joy.GetBumperPressed(XboxController::kLeftHand);
joy.GetBumperReleased(XboxController::kLeftHand);
joy.GetBumperPressed(XboxController::kRightHand);
joy.GetBumperReleased(XboxController::kRightHand);
joysim.SetBumper(XboxController::kLeftHand, true);
joysim.SetBumper(XboxController::kRightHand, false);
joysim.NotifyNewData();
ASSERT_TRUE(joy.GetBumper(XboxController::kLeftHand));
ASSERT_TRUE(joy.GetBumperPressed(XboxController::kLeftHand));
ASSERT_FALSE(joy.GetBumperReleased(XboxController::kLeftHand));
ASSERT_FALSE(joy.GetBumper(XboxController::kRightHand));
ASSERT_FALSE(joy.GetBumperPressed(XboxController::kRightHand));
ASSERT_TRUE(joy.GetBumperReleased(XboxController::kRightHand));
}
TEST(XboxControllerTests, GetAButton) {
XboxController joy{1};
sim::XboxControllerSim joysim{joy};
joysim.SetAButton(false);
joysim.NotifyNewData();
ASSERT_FALSE(joy.GetAButton());
// need to call pressed and released to clear flags
joy.GetAButtonPressed();
joy.GetAButtonReleased();
joysim.SetAButton(true);
joysim.NotifyNewData();
ASSERT_TRUE(joy.GetAButton());
ASSERT_TRUE(joy.GetAButtonPressed());
ASSERT_FALSE(joy.GetAButtonReleased());
joysim.SetAButton(false);
joysim.NotifyNewData();
ASSERT_FALSE(joy.GetAButton());
ASSERT_FALSE(joy.GetAButtonPressed());
ASSERT_TRUE(joy.GetAButtonReleased());
}