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PJ Reiniger
2025-11-07 19:55:40 -05:00
committed by Peter Johnson
parent 7ca1be9bae
commit c350c5f112
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wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java 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.
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
class XboxControllerTest {
@ParameterizedTest
@EnumSource(value = XboxController.Button.class)
void testButtons(XboxController.Button button)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
XboxControllerSim joysim = new XboxControllerSim(joy);
var buttonName = button.toString();
String simSetMethodName = "set" + buttonName;
String joyGetMethodName = "get" + buttonName;
String joyPressedMethodName = "get" + buttonName + "Pressed";
String joyReleasedMethodName = "get" + buttonName + "Released";
final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
simSetMethod.invoke(joysim, false);
joysim.notifyNewData();
assertFalse((Boolean) joyGetMethod.invoke(joy));
// need to call pressed and released to clear flags
joyPressedMethod.invoke(joy);
joyReleasedMethod.invoke(joy);
simSetMethod.invoke(joysim, true);
joysim.notifyNewData();
assertTrue((Boolean) joyGetMethod.invoke(joy));
assertTrue((Boolean) joyPressedMethod.invoke(joy));
assertFalse((Boolean) joyReleasedMethod.invoke(joy));
simSetMethod.invoke(joysim, false);
joysim.notifyNewData();
assertFalse((Boolean) joyGetMethod.invoke(joy));
assertFalse((Boolean) joyPressedMethod.invoke(joy));
assertTrue((Boolean) joyReleasedMethod.invoke(joy));
}
@ParameterizedTest
@EnumSource(value = XboxController.Axis.class)
void testAxes(XboxController.Axis axis)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
XboxControllerSim joysim = new XboxControllerSim(joy);
var axisName = axis.toString();
String simSetMethodName = "set" + axisName;
String joyGetMethodName = "get" + axisName;
Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
simSetMethod.invoke(joysim, 0.35);
joysim.notifyNewData();
assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
}
}