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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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38
wpilibj/src/test/java/org/wpilib/simulation/ADXL345SimTest.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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.ADXL345_I2C;
import edu.wpi.first.wpilibj.I2C;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
class ADXL345SimTest {
@ParameterizedTest
@EnumSource(ADXL345_I2C.Range.class)
void testInitI2C(ADXL345_I2C.Range range) {
HAL.initialize(500, 0);
try (ADXL345_I2C accel = new ADXL345_I2C(I2C.Port.kPort0, range)) {
ADXL345Sim sim = new ADXL345Sim(accel);
sim.setX(1.91);
sim.setY(-3.405);
sim.setZ(2.29);
assertEquals(1.91, accel.getX());
assertEquals(-3.405, accel.getY());
assertEquals(2.29, accel.getZ());
ADXL345_I2C.AllAxes allAccel = accel.getAccelerations();
assertEquals(1.91, allAccel.XAxis);
assertEquals(-3.405, allAccel.YAxis);
assertEquals(2.29, allAccel.ZAxis);
}
}
}

104
wpilibj/src/test/java/org/wpilib/simulation/AddressableLEDSimTest.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.simulation;
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.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.BufferCallback;
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import java.util.Arrays;
import org.junit.jupiter.api.Test;
class AddressableLEDSimTest {
@Test
void testInitialization() {
HAL.initialize(500, 0);
AddressableLEDSim sim = new AddressableLEDSim(0);
assertFalse(sim.getInitialized());
BooleanCallback initializedCallback = new BooleanCallback();
try (CallbackStore cb = sim.registerInitializedCallback(initializedCallback, false);
AddressableLED led = new AddressableLED(0)) {
assertTrue(sim.getInitialized());
assertTrue(initializedCallback.wasTriggered());
assertTrue(initializedCallback.getSetValue());
}
}
@Test
void testLength() {
AddressableLEDSim sim = new AddressableLEDSim(0);
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerLengthCallback(callback, false);
AddressableLED led = new AddressableLED(0)) {
assertEquals(0, sim.getLength()); // Defaults to 0 leds
AddressableLEDBuffer ledData = new AddressableLEDBuffer(50);
led.setLength(ledData.getLength());
led.setData(ledData);
assertEquals(50, sim.getLength());
assertTrue(callback.wasTriggered());
assertEquals(50, callback.getSetValue());
}
}
@Test
void testSetData() {
AddressableLEDSim sim = new AddressableLEDSim(0);
BufferCallback callback = new BufferCallback();
try (AddressableLED led = new AddressableLED(0);
CallbackStore cb = AddressableLEDSim.registerDataCallback(callback)) {
assertEquals(0, sim.getLength()); // Defaults to 0 leds
AddressableLEDBuffer ledData = new AddressableLEDBuffer(3);
led.setLength(ledData.getLength());
ledData.setRGB(0, 255, 0, 0);
ledData.setRGB(1, 0, 255, 0);
ledData.setRGB(2, 0, 0, 255);
led.setData(ledData);
byte[] data = sim.getData();
System.out.println(Arrays.toString(data));
assertEquals(9, data.length);
assertEquals((byte) 255, data[0]);
assertEquals((byte) 0, data[1]);
assertEquals((byte) 0, data[2]);
assertEquals((byte) 0, data[3]);
assertEquals((byte) 255, data[4]);
assertEquals((byte) 0, data[5]);
assertEquals((byte) 0, data[6]);
assertEquals((byte) 0, data[7]);
assertEquals((byte) 255, data[8]);
assertTrue(callback.wasTriggered());
data = callback.getSetValue();
assertEquals((byte) 255, data[0]);
assertEquals((byte) 0, data[1]);
assertEquals((byte) 0, data[2]);
assertEquals((byte) 0, data[3]);
assertEquals((byte) 255, data[4]);
assertEquals((byte) 0, data[5]);
assertEquals((byte) 0, data[6]);
assertEquals((byte) 0, data[7]);
assertEquals((byte) 255, data[8]);
}
}
}

25
wpilibj/src/test/java/org/wpilib/simulation/AnalogEncoderSimTest.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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.AnalogEncoder;
import edu.wpi.first.wpilibj.AnalogInput;
import org.junit.jupiter.api.Test;
class AnalogEncoderSimTest {
@Test
void testBasic() {
try (var analogInput = new AnalogInput(0);
var analogEncoder = new AnalogEncoder(analogInput, 360, 0)) {
var encoderSim = new AnalogEncoderSim(analogEncoder);
encoderSim.set(180);
assertEquals(analogEncoder.get(), 180, 1E-8);
assertEquals(encoderSim.get(), 180, 1E-8);
}
}
}

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wpilibj/src/test/java/org/wpilib/simulation/AnalogInputSimTest.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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import org.junit.jupiter.api.Test;
class AnalogInputSimTest {
@Test
void setInitializeTest() {
HAL.initialize(500, 0);
AnalogInputSim sim = new AnalogInputSim(5);
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = sim.registerInitializedCallback(callback, false);
AnalogInput input = new AnalogInput(5)) {
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void testSetVoltage() {
HAL.initialize(500, 0);
AnalogInputSim sim = new AnalogInputSim(5);
DoubleCallback callback = new DoubleCallback();
try (CallbackStore cb = sim.registerVoltageCallback(callback, false);
AnalogInput input = new AnalogInput(5)) {
// Bootstrap the voltage to be non-zero
sim.setVoltage(1.0);
for (double i = 0; i < 5.0; i += 0.1) {
callback.reset();
sim.setVoltage(0);
assertEquals(input.getVoltage(), 0, 0.001);
callback.reset();
sim.setVoltage(i);
assertEquals(input.getVoltage(), i, 0.001);
}
}
}
@Test
void testSetOverSampleBits() {
HAL.initialize(500, 0);
try (AnalogInput input = new AnalogInput(5)) {
input.setOversampleBits(3504);
assertEquals(3504, input.getOversampleBits());
}
}
}

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wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.CompressorConfigType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsControlModule;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import org.junit.jupiter.api.Test;
class CTREPCMSimTest {
@Test
void testInitialization() {
HAL.initialize(500, 0);
CTREPCMSim sim = new CTREPCMSim(0);
sim.resetData();
assertFalse(sim.getInitialized());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = sim.registerInitializedCallback(callback, false);
PneumaticsControlModule pcm = new PneumaticsControlModule(0)) {
assertTrue(sim.getInitialized());
}
assertFalse(sim.getInitialized());
}
@Test
void solenoidOutputTest() {
HAL.initialize(500, 0);
try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
DoubleSolenoid doubleSolenoid = new DoubleSolenoid(0, PneumaticsModuleType.CTREPCM, 3, 4)) {
CTREPCMSim sim = new CTREPCMSim(0);
sim.resetData();
BooleanCallback callback3 = new BooleanCallback();
BooleanCallback callback4 = new BooleanCallback();
try (CallbackStore cb3 = sim.registerSolenoidOutputCallback(3, callback3, false);
CallbackStore cb4 = sim.registerSolenoidOutputCallback(4, callback4, false)) {
// Reverse
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
assertFalse(callback3.wasTriggered());
assertNull(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
assertTrue(callback4.getSetValue());
assertFalse(sim.getSolenoidOutput(3));
assertTrue(sim.getSolenoidOutput(4));
assertEquals(0x10, pcm.getSolenoids());
// Forward
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kForward);
assertTrue(callback3.wasTriggered());
assertTrue(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
assertFalse(callback4.getSetValue());
assertTrue(sim.getSolenoidOutput(3));
assertFalse(sim.getSolenoidOutput(4));
assertEquals(0x8, pcm.getSolenoids());
// Off
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kOff);
assertTrue(callback3.wasTriggered());
assertFalse(callback3.getSetValue());
assertFalse(callback4.wasTriggered());
assertNull(callback4.getSetValue());
assertFalse(sim.getSolenoidOutput(3));
assertFalse(sim.getSolenoidOutput(4));
assertEquals(0x0, pcm.getSolenoids());
}
}
}
@Test
void setCompressorOnTest() {
HAL.initialize(500, 0);
CTREPCMSim sim = new CTREPCMSim(0);
BooleanCallback callback = new BooleanCallback();
try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
CallbackStore cb = sim.registerCompressorOnCallback(callback, false)) {
assertFalse(pcm.getCompressor());
assertFalse(sim.getCompressorOn());
sim.setCompressorOn(true);
assertTrue(pcm.getCompressor());
assertTrue(sim.getCompressorOn());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void setEnableDigital() {
HAL.initialize(500, 0);
CTREPCMSim sim = new CTREPCMSim(0);
BooleanCallback callback = new BooleanCallback();
try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
CallbackStore cb = sim.registerClosedLoopEnabledCallback(callback, false)) {
pcm.disableCompressor();
assertEquals(pcm.getCompressorConfigType(), CompressorConfigType.Disabled);
pcm.enableCompressorDigital();
assertTrue(sim.getClosedLoopEnabled());
assertEquals(pcm.getCompressorConfigType(), CompressorConfigType.Digital);
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void setPressureSwitchEnabledTest() {
HAL.initialize(500, 0);
CTREPCMSim sim = new CTREPCMSim(0);
BooleanCallback callback = new BooleanCallback();
try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
CallbackStore cb = sim.registerPressureSwitchCallback(callback, false)) {
assertFalse(pcm.getPressureSwitch());
sim.setPressureSwitch(true);
assertTrue(sim.getPressureSwitch());
assertTrue(pcm.getPressureSwitch());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void setCompressorCurrentTest() {
HAL.initialize(500, 0);
CTREPCMSim sim = new CTREPCMSim(0);
DoubleCallback callback = new DoubleCallback();
try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
CallbackStore cb = sim.registerCompressorCurrentCallback(callback, false)) {
assertFalse(pcm.getPressureSwitch());
sim.setCompressorCurrent(35.04);
assertEquals(35.04, sim.getCompressorCurrent());
assertEquals(35.04, pcm.getCompressorCurrent());
assertTrue(callback.wasTriggered());
assertEquals(35.04, callback.getSetValue());
}
}
}

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wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import org.junit.jupiter.api.Test;
class DCMotorSimTest {
@Test
void testVoltageSteadyState() {
RoboRioSim.resetData();
DCMotor gearbox = DCMotor.getNEO(1);
LinearSystem<N2, N1, N2> plant = LinearSystemId.createDCMotorSystem(gearbox, 0.0005, 1);
DCMotorSim sim = new DCMotorSim(plant, gearbox);
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1)) {
var encoderSim = new EncoderSim(encoder);
encoderSim.resetData();
for (int i = 0; i < 100; i++) {
motor.setVoltage(12);
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setRate(sim.getAngularVelocity());
}
assertEquals(gearbox.Kv * 12, encoder.getRate(), 0.1);
for (int i = 0; i < 100; i++) {
motor.setVoltage(0);
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setRate(sim.getAngularVelocity());
}
assertEquals(0, encoder.getRate(), 0.1);
}
}
@Test
void testPositionFeedbackControl() {
RoboRioSim.resetData();
DCMotor gearbox = DCMotor.getNEO(1);
LinearSystem<N2, N1, N2> plant = LinearSystemId.createDCMotorSystem(gearbox, 0.0005, 1);
DCMotorSim sim = new DCMotorSim(plant, gearbox);
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1);
var controller = new PIDController(0.04, 0.0, 0.001)) {
var encoderSim = new EncoderSim(encoder);
encoderSim.resetData();
for (int i = 0; i < 140; i++) {
motor.set(controller.calculate(encoder.getDistance(), 750));
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setDistance(sim.getAngularPosition());
encoderSim.setRate(sim.getAngularVelocity());
}
assertEquals(750, encoder.getDistance(), 1.0);
assertEquals(0, encoder.getRate(), 0.1);
}
}
}

85
wpilibj/src/test/java/org/wpilib/simulation/DIOSimTest.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.simulation;
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.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import org.junit.jupiter.api.Test;
class DIOSimTest {
@Test
void testInitialization() {
DIOSim sim = new DIOSim(2);
assertFalse(sim.getInitialized());
BooleanCallback initializedCallback = new BooleanCallback();
BooleanCallback isInputCallback = new BooleanCallback();
try (CallbackStore initializeCb = sim.registerInitializedCallback(initializedCallback, false);
CallbackStore inputCb = sim.registerIsInputCallback(isInputCallback, false);
DigitalOutput output = new DigitalOutput(2)) {
assertTrue(sim.getInitialized());
assertTrue(initializedCallback.wasTriggered());
assertTrue(initializedCallback.getSetValue());
assertFalse(sim.getIsInput());
assertTrue(isInputCallback.wasTriggered());
assertFalse(isInputCallback.getSetValue());
initializedCallback.reset();
sim.setInitialized(false);
assertTrue(initializedCallback.wasTriggered());
assertFalse(initializedCallback.getSetValue());
}
}
@Test
void testInput() {
HAL.initialize(500, 0);
try (DigitalInput input = new DigitalInput(0)) {
DIOSim sim = new DIOSim(input);
assertTrue(sim.getIsInput());
BooleanCallback valueCallback = new BooleanCallback();
try (CallbackStore cb = sim.registerValueCallback(valueCallback, false)) {
assertTrue(input.get());
assertTrue(sim.getValue());
assertFalse(valueCallback.wasTriggered());
sim.setValue(false);
assertTrue(valueCallback.wasTriggered());
assertFalse(valueCallback.getSetValue());
}
}
}
@Test
void testOutput() {
HAL.initialize(500, 0);
try (DigitalOutput output = new DigitalOutput(0)) {
DIOSim sim = new DIOSim(output);
assertFalse(sim.getIsInput());
BooleanCallback valueCallback = new BooleanCallback();
try (CallbackStore cb = sim.registerValueCallback(valueCallback, false)) {
assertTrue(output.get());
assertTrue(sim.getValue());
assertFalse(valueCallback.wasTriggered());
output.set(false);
assertTrue(valueCallback.wasTriggered());
assertFalse(valueCallback.getSetValue());
}
}
}
}

152
wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.controller.LTVUnicycleController;
import edu.wpi.first.math.controller.LinearPlantInversionFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N7;
import edu.wpi.first.math.system.NumericalIntegration;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
import edu.wpi.first.math.util.Units;
import java.util.List;
import org.junit.jupiter.api.Test;
class DifferentialDrivetrainSimTest {
@Test
void testConvergence() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 0.5, 1.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
var sim =
new DifferentialDrivetrainSim(
plant,
motor,
1,
kinematics.trackwidth,
Units.inchesToMeters(2),
VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
var feedforward = new LinearPlantInversionFeedforward<>(plant, 0.020);
var feedback = new LTVUnicycleController(0.020);
feedforward.reset(VecBuilder.fill(0, 0));
// ground truth
Matrix<N7, N1> groundTruthX = new Vector<>(Nat.N7());
var traj =
TrajectoryGenerator.generateTrajectory(
Pose2d.kZero,
List.of(),
new Pose2d(2, 2, Rotation2d.kZero),
new TrajectoryConfig(1, 1)
.addConstraint(new DifferentialDriveKinematicsConstraint(kinematics, 1)));
for (double t = 0; t < traj.getTotalTime(); t += 0.020) {
var state = traj.sample(t);
var feedbackOut = feedback.calculate(sim.getPose(), state);
var wheelSpeeds = kinematics.toWheelSpeeds(feedbackOut);
var voltages = feedforward.calculate(VecBuilder.fill(wheelSpeeds.left, wheelSpeeds.right));
// Sim periodic code
sim.setInputs(voltages.get(0, 0), voltages.get(1, 0));
sim.update(0.020);
// Update our ground truth
groundTruthX = NumericalIntegration.rkdp(sim::getDynamics, groundTruthX, voltages, 0.020);
}
// 2 inch tolerance is OK since our ground truth is an approximation of the
// ODE solution using RKDP anyway
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kX.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kX),
0.05);
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kY.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kY),
0.05);
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kHeading.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kHeading),
0.01);
}
@Test
void testCurrent() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 0.5, 1.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
var sim =
new DifferentialDrivetrainSim(
plant, motor, 1, kinematics.trackwidth, Units.inchesToMeters(2), null);
sim.setInputs(-12, -12);
for (int i = 0; i < 10; i++) {
sim.update(0.020);
}
assertTrue(sim.getCurrentDraw() > 0);
sim.setInputs(12, 12);
for (int i = 0; i < 20; i++) {
sim.update(0.020);
}
assertTrue(sim.getCurrentDraw() > 0);
sim.setInputs(-12, 12);
for (int i = 0; i < 30; i++) {
sim.update(0.020);
}
assertTrue(sim.getCurrentDraw() > 0);
}
@Test
void testModelStability() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 2.0, 5.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
var sim =
new DifferentialDrivetrainSim(
plant,
motor,
5,
kinematics.trackwidth,
Units.inchesToMeters(2),
VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
sim.setInputs(2, 4);
// 10 seconds should be enough time to verify stability
for (int i = 0; i < 500; i++) {
sim.update(0.020);
}
assertTrue(Math.abs(sim.getPose().getTranslation().getNorm()) < 100);
}
}

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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.simulation;
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.DigitalOutput;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
class DigitalPWMSimTest {
@Test
void testInitialization() {
try (DigitalOutput output = new DigitalOutput(0)) {
DigitalPWMSim sim = new DigitalPWMSim(output);
assertFalse(sim.getInitialized());
BooleanCallback initializeCallback = new BooleanCallback();
DoubleCallback dutyCycleCallback = new DoubleCallback();
try (CallbackStore initCb = sim.registerInitializedCallback(initializeCallback, false);
CallbackStore dutyCycleCb = sim.registerDutyCycleCallback(dutyCycleCallback, false)) {
final double kTestDutyCycle = 0.191;
output.enablePWM(kTestDutyCycle);
assertTrue(sim.getInitialized());
assertTrue(initializeCallback.wasTriggered());
assertTrue(initializeCallback.getSetValue());
assertEquals(kTestDutyCycle, sim.getDutyCycle());
assertTrue(dutyCycleCallback.wasTriggered());
assertEquals(kTestDutyCycle, dutyCycleCallback.getSetValue());
}
}
}
@Test
void setPinTest() {
HAL.initialize(500, 0);
try (DigitalOutput output = new DigitalOutput(0)) {
DigitalPWMSim sim = new DigitalPWMSim(output);
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerPinCallback(callback, false)) {
sim.setPin(191);
assertEquals(191, sim.getPin());
assertTrue(callback.wasTriggered());
assertEquals(191, callback.getSetValue());
}
}
}
}

282
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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.simulation;
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.AllianceStationID;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.EnumCallback;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
class DriverStationSimTest {
@Test
void testEnabled() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
assertFalse(DriverStation.isEnabled());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerEnabledCallback(callback, false)) {
DriverStationSim.setEnabled(true);
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getEnabled());
assertTrue(DriverStation.isEnabled());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void testAutonomous() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
assertFalse(DriverStation.isAutonomous());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerAutonomousCallback(callback, false)) {
DriverStationSim.setAutonomous(true);
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getAutonomous());
assertTrue(DriverStation.isAutonomous());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void testTest() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
assertFalse(DriverStation.isTest());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerTestCallback(callback, false)) {
DriverStationSim.setTest(true);
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getTest());
assertTrue(DriverStation.isTest());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void testEstop() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
assertFalse(DriverStation.isEStopped());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerEStopCallback(callback, false)) {
DriverStationSim.setEStop(true);
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getEStop());
assertTrue(DriverStation.isEStopped());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void testFmsAttached() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
assertFalse(DriverStation.isFMSAttached());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerFmsAttachedCallback(callback, false)) {
DriverStationSim.setFmsAttached(true);
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getFmsAttached());
assertTrue(DriverStation.isFMSAttached());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void testDsAttached() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
DriverStation.refreshData();
assertFalse(DriverStationSim.getDsAttached());
assertFalse(DriverStation.isDSAttached());
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getDsAttached());
assertTrue(DriverStation.isDSAttached());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerDsAttachedCallback(callback, false)) {
DriverStationSim.setDsAttached(false);
DriverStation.refreshData();
assertFalse(DriverStationSim.getDsAttached());
assertFalse(DriverStation.isDSAttached());
assertTrue(callback.wasTriggered());
assertFalse(callback.getSetValue());
}
}
@Test
void testAllianceStationId() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
EnumCallback callback = new EnumCallback();
AllianceStationID allianceStation = AllianceStationID.Blue2;
DriverStationSim.setAllianceStationId(allianceStation);
try (CallbackStore cb = DriverStationSim.registerAllianceStationIdCallback(callback, false)) {
// Unknown
allianceStation = AllianceStationID.Unknown;
DriverStationSim.setAllianceStationId(allianceStation);
DriverStationSim.notifyNewData();
assertEquals(allianceStation, DriverStationSim.getAllianceStationId());
assertFalse(DriverStation.getAlliance().isPresent());
assertFalse(DriverStation.getLocation().isPresent());
assertTrue(callback.wasTriggered());
assertEquals(allianceStation.ordinal(), callback.getSetValue());
// B1
allianceStation = AllianceStationID.Blue1;
DriverStationSim.setAllianceStationId(allianceStation);
DriverStationSim.notifyNewData();
assertEquals(allianceStation, DriverStationSim.getAllianceStationId());
assertEquals(DriverStation.Alliance.Blue, DriverStation.getAlliance().get());
assertEquals(1, DriverStation.getLocation().getAsInt());
assertTrue(callback.wasTriggered());
assertEquals(allianceStation.ordinal(), callback.getSetValue());
// B2
allianceStation = AllianceStationID.Blue2;
DriverStationSim.setAllianceStationId(allianceStation);
DriverStationSim.notifyNewData();
assertEquals(allianceStation, DriverStationSim.getAllianceStationId());
assertEquals(DriverStation.Alliance.Blue, DriverStation.getAlliance().get());
assertEquals(2, DriverStation.getLocation().getAsInt());
assertTrue(callback.wasTriggered());
assertEquals(allianceStation.ordinal(), callback.getSetValue());
// B3
allianceStation = AllianceStationID.Blue3;
DriverStationSim.setAllianceStationId(allianceStation);
DriverStationSim.notifyNewData();
assertEquals(allianceStation, DriverStationSim.getAllianceStationId());
assertEquals(DriverStation.Alliance.Blue, DriverStation.getAlliance().get());
assertEquals(3, DriverStation.getLocation().getAsInt());
assertTrue(callback.wasTriggered());
assertEquals(allianceStation.ordinal(), callback.getSetValue());
// R1
allianceStation = AllianceStationID.Red1;
DriverStationSim.setAllianceStationId(allianceStation);
DriverStationSim.notifyNewData();
assertEquals(allianceStation, DriverStationSim.getAllianceStationId());
assertEquals(DriverStation.Alliance.Red, DriverStation.getAlliance().get());
assertEquals(1, DriverStation.getLocation().getAsInt());
assertTrue(callback.wasTriggered());
assertEquals(allianceStation.ordinal(), callback.getSetValue());
// R2
allianceStation = AllianceStationID.Red2;
DriverStationSim.setAllianceStationId(allianceStation);
DriverStationSim.notifyNewData();
assertEquals(allianceStation, DriverStationSim.getAllianceStationId());
assertEquals(DriverStation.Alliance.Red, DriverStation.getAlliance().get());
assertEquals(2, DriverStation.getLocation().getAsInt());
assertTrue(callback.wasTriggered());
assertEquals(allianceStation.ordinal(), callback.getSetValue());
// R3
allianceStation = AllianceStationID.Red3;
DriverStationSim.setAllianceStationId(allianceStation);
DriverStationSim.notifyNewData();
assertEquals(allianceStation, DriverStationSim.getAllianceStationId());
assertEquals(DriverStation.Alliance.Red, DriverStation.getAlliance().get());
assertEquals(3, DriverStation.getLocation().getAsInt());
assertTrue(callback.wasTriggered());
assertEquals(allianceStation.ordinal(), callback.getSetValue());
}
}
@ParameterizedTest
@EnumSource(DriverStation.MatchType.class)
void testMatchType(DriverStation.MatchType matchType) {
HAL.initialize(500, 0);
DriverStationSim.resetData();
DriverStationSim.setMatchType(matchType);
DriverStationSim.notifyNewData();
assertEquals(matchType, DriverStation.getMatchType());
}
@Test
void testReplayNumber() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
DriverStationSim.setReplayNumber(4);
DriverStationSim.notifyNewData();
assertEquals(4, DriverStation.getReplayNumber());
}
@Test
void testMatchNumber() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
DriverStationSim.setMatchNumber(3);
DriverStationSim.notifyNewData();
assertEquals(3, DriverStation.getMatchNumber());
}
@Test
void testMatchTime() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
DoubleCallback callback = new DoubleCallback();
try (CallbackStore cb = DriverStationSim.registerMatchTimeCallback(callback, false)) {
final double testTime = 19.174;
DriverStationSim.setMatchTime(testTime);
DriverStationSim.notifyNewData();
assertEquals(testTime, DriverStationSim.getMatchTime());
assertEquals(testTime, DriverStation.getMatchTime());
assertTrue(callback.wasTriggered());
assertEquals(testTime, callback.getSetValue());
}
}
@Test
void testSetGameSpecificMessage() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
final String message = "Hello World!";
DriverStationSim.setGameSpecificMessage(message);
DriverStationSim.notifyNewData();
assertEquals(message, DriverStation.getGameSpecificMessage());
}
@Test
void testSetEventName() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
final String message = "The Best Event";
DriverStationSim.setEventName(message);
DriverStationSim.notifyNewData();
assertEquals(message, DriverStation.getEventName());
}
}

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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.simulation;
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.DutyCycleEncoder;
import org.junit.jupiter.api.Test;
class DutyCycleEncoderSimTest {
@Test
void setTest() {
try (DutyCycleEncoder encoder = new DutyCycleEncoder(0, 5.67, 0)) {
DutyCycleEncoderSim sim = new DutyCycleEncoderSim(encoder);
sim.set(5.67);
assertEquals(5.67, encoder.get());
}
}
@Test
void setIsConnectedTest() {
HAL.initialize(500, 0);
try (DutyCycleEncoder encoder = new DutyCycleEncoder(0)) {
DutyCycleEncoderSim sim = new DutyCycleEncoderSim(encoder);
sim.setConnected(true);
assertTrue(encoder.isConnected());
sim.setConnected(false);
assertFalse(encoder.isConnected());
}
}
}

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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.simulation;
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.DutyCycle;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import org.junit.jupiter.api.Test;
class DutyCycleSimTest {
@Test
void testInitialization() {
DutyCycleSim sim = DutyCycleSim.createForChannel(2);
assertFalse(sim.getInitialized());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = sim.registerInitializedCallback(callback, false);
DutyCycle dc = new DutyCycle(2)) {
assertTrue(sim.getInitialized());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void setFrequencyTest() {
HAL.initialize(500, 0);
try (DutyCycle dc = new DutyCycle(2)) {
DoubleCallback callback = new DoubleCallback();
DutyCycleSim sim = new DutyCycleSim(dc);
try (CallbackStore cb = sim.registerFrequencyCallback(callback, false)) {
sim.setFrequency(191);
assertEquals(191, sim.getFrequency());
assertEquals(191, dc.getFrequency());
assertTrue(callback.wasTriggered());
assertEquals(191, callback.getSetValue());
}
}
}
@Test
void setOutputTest() {
HAL.initialize(500, 0);
try (DutyCycle dc = new DutyCycle(2)) {
DoubleCallback callback = new DoubleCallback();
DutyCycleSim sim = new DutyCycleSim(dc);
try (CallbackStore cb = sim.registerOutputCallback(callback, false)) {
sim.setOutput(229.174);
assertEquals(229.174, sim.getOutput());
assertEquals(229.174, dc.getOutput());
assertTrue(callback.wasTriggered());
assertEquals(229.174, callback.getSetValue());
}
}
}
}

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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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import org.junit.jupiter.api.Test;
class ElevatorSimTest {
@Test
void testStateSpaceSimWithElevator() {
RoboRioSim.resetData();
@SuppressWarnings("resource")
var controller = new PIDController(10, 0, 0);
var sim =
new ElevatorSim(
DCMotor.getVex775Pro(4),
14.67,
8,
0.75 * 25.4 / 1000.0,
0.0,
3.0,
true,
0.0,
0.01,
0.0);
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1)) {
var encoderSim = new EncoderSim(encoder);
for (int i = 0; i < 100; i++) {
controller.setSetpoint(2.0);
double nextVoltage = controller.calculate(encoderSim.getDistance());
double currentBatteryVoltage = RobotController.getBatteryVoltage();
motor.set(nextVoltage / currentBatteryVoltage);
// ------ SimulationPeriodic() happens after user code -------
var u = VecBuilder.fill(motor.get() * currentBatteryVoltage);
sim.setInput(u);
sim.update(0.020);
var y = sim.getOutput();
encoderSim.setDistance(y.get(0, 0));
}
assertEquals(controller.getSetpoint(), sim.getPosition(), 0.2);
}
}
@Test
void testInitialState() {
double startingHeightMeters = 0.5;
var sim =
new ElevatorSim(
DCMotor.getKrakenX60(2), 20, 8.0, 0.1, 0.0, 1.0, true, startingHeightMeters, 0.01, 0.0);
assertEquals(startingHeightMeters, sim.getPosition());
assertEquals(0, sim.getVelocity());
}
@Test
void testMinMax() {
var sim =
new ElevatorSim(
DCMotor.getVex775Pro(4),
14.67,
8.0,
0.75 * 25.4 / 1000.0,
0.0,
1.0,
true,
0.0,
0.01,
0.0);
for (int i = 0; i < 100; i++) {
sim.setInput(VecBuilder.fill(0));
sim.update(0.020);
var height = sim.getPosition();
assertTrue(height >= -0.05);
}
for (int i = 0; i < 100; i++) {
sim.setInput(VecBuilder.fill(12.0));
sim.update(0.020);
var height = sim.getPosition();
assertTrue(height <= 1.05);
}
}
@Test
void testStability() {
var sim =
new ElevatorSim(
DCMotor.getVex775Pro(4), 100, 4, Units.inchesToMeters(0.5), 0, 10, false, 0.0);
sim.setState(VecBuilder.fill(0, 0));
sim.setInput(12);
for (int i = 0; i < 50; ++i) {
sim.update(0.02);
}
var system =
LinearSystemId.createElevatorSystem(
DCMotor.getVex775Pro(4), 4, Units.inchesToMeters(0.5), 100);
assertEquals(
system.calculateX(VecBuilder.fill(0, 0), VecBuilder.fill(12), 0.02 * 50.0).get(0, 0),
sim.getPosition(),
0.01);
}
}

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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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
class EncoderSimTest {
private static final double DEFAULT_DISTANCE_PER_PULSE = 0.0005;
@Test
void testRate() {
HAL.initialize(500, 0);
try (Encoder encoder = new Encoder(0, 1)) {
EncoderSim sim = new EncoderSim(encoder);
sim.resetData();
encoder.setDistancePerPulse(DEFAULT_DISTANCE_PER_PULSE);
sim.setRate(1.91);
assertEquals(1.91, sim.getRate());
}
}
@Test
void testCount() {
HAL.initialize(500, 0);
try (Encoder encoder = new Encoder(0, 1)) {
EncoderSim sim = new EncoderSim(encoder);
sim.resetData();
encoder.setDistancePerPulse(DEFAULT_DISTANCE_PER_PULSE);
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerCountCallback(callback, false)) {
sim.setCount(3504);
assertEquals(3504, sim.getCount());
assertTrue(callback.wasTriggered());
assertEquals(3504, encoder.get());
assertEquals(3504, callback.getSetValue());
}
}
}
@Test
void testDistance() {
HAL.initialize(500, 0);
try (Encoder encoder = new Encoder(0, 1)) {
EncoderSim sim = new EncoderSim(encoder);
sim.resetData();
encoder.setDistancePerPulse(DEFAULT_DISTANCE_PER_PULSE);
sim.setDistance(229.174);
assertEquals(229.174, sim.getDistance());
assertEquals(229.174, encoder.getDistance());
}
}
@SuppressWarnings("deprecation") // Encoder.getPeriod()
@Test
void testPeriod() {
HAL.initialize(500, 0);
try (Encoder encoder = new Encoder(0, 1)) {
EncoderSim sim = new EncoderSim(encoder);
sim.resetData();
encoder.setDistancePerPulse(DEFAULT_DISTANCE_PER_PULSE);
DoubleCallback callback = new DoubleCallback();
try (CallbackStore cb = sim.registerPeriodCallback(callback, false)) {
sim.setPeriod(123.456);
assertEquals(123.456, sim.getPeriod());
assertEquals(123.456, encoder.getPeriod());
assertEquals(DEFAULT_DISTANCE_PER_PULSE / 123.456, encoder.getRate());
}
}
}
@Test
void testDistancePerPulse() {
HAL.initialize(500, 0);
try (Encoder encoder = new Encoder(0, 1)) {
EncoderSim sim = new EncoderSim(encoder);
sim.resetData();
DoubleCallback callback = new DoubleCallback();
try (CallbackStore cb = sim.registerDistancePerPulseCallback(callback, false)) {
sim.setDistancePerPulse(0.03405);
assertEquals(0.03405, sim.getDistancePerPulse());
assertEquals(0.03405, encoder.getDistancePerPulse());
assertTrue(callback.wasTriggered());
assertEquals(0.03405, callback.getSetValue());
}
}
}
}

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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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import org.junit.jupiter.api.Test;
class PWMMotorControllerSimTest {
@Test
void testMotor() {
HAL.initialize(500, 0);
try (Spark spark = new Spark(0)) {
PWMMotorControllerSim sim = new PWMMotorControllerSim(spark);
spark.set(0);
assertEquals(0, sim.getSpeed());
spark.set(0.354);
assertEquals(0.354, sim.getSpeed());
spark.set(-0.785);
assertEquals(-0.785, sim.getSpeed());
}
}
}

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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.simulation;
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.PWM;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
class PWMSimTest {
@Test
void testInitialize() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
sim.resetData();
assertFalse(sim.getInitialized());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = sim.registerInitializedCallback(callback, false);
PWM pwm = new PWM(0)) {
assertTrue(sim.getInitialized());
}
}
@Test
void testSetPulseTime() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
sim.resetData();
assertFalse(sim.getInitialized());
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerPulseMicrosecondCallback(callback, false);
PWM pwm = new PWM(0)) {
sim.setPulseMicrosecond(2290);
assertEquals(2290, sim.getPulseMicrosecond());
assertEquals(2290, pwm.getPulseTimeMicroseconds());
assertTrue(callback.wasTriggered());
assertEquals(2290, callback.getSetValue());
}
}
@Test
void testSetOutputPeriod() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
sim.resetData();
assertFalse(sim.getInitialized());
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerOutputPeriodCallback(callback, false);
PWM pwm = new PWM(0)) {
sim.setOutputPeriod(3504);
assertEquals(3504, sim.getOutputPeriod());
assertTrue(callback.wasTriggered());
assertEquals(3504, callback.getSetValue());
}
}
}

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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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.CompressorConfigType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticHub;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.EnumCallback;
import org.junit.jupiter.api.Test;
class REVPHSimTest {
@Test
void testInitialization() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
sim.resetData();
assertFalse(sim.getInitialized());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = sim.registerInitializedCallback(callback, false);
PneumaticHub ph = new PneumaticHub(1)) {
assertTrue(sim.getInitialized());
}
assertFalse(sim.getInitialized());
}
@Test
void solenoidOutputTest() {
HAL.initialize(500, 0);
try (PneumaticHub ph = new PneumaticHub(1);
DoubleSolenoid doubleSolenoid = new DoubleSolenoid(1, PneumaticsModuleType.REVPH, 3, 4)) {
REVPHSim sim = new REVPHSim(ph);
sim.resetData();
BooleanCallback callback3 = new BooleanCallback();
BooleanCallback callback4 = new BooleanCallback();
try (CallbackStore cb3 = sim.registerSolenoidOutputCallback(3, callback3, false);
CallbackStore cb4 = sim.registerSolenoidOutputCallback(4, callback4, false)) {
// Reverse
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
assertFalse(callback3.wasTriggered());
assertNull(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
assertTrue(callback4.getSetValue());
assertFalse(sim.getSolenoidOutput(3));
assertTrue(sim.getSolenoidOutput(4));
assertEquals(0x10, ph.getSolenoids());
// Forward
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kForward);
assertTrue(callback3.wasTriggered());
assertTrue(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
assertFalse(callback4.getSetValue());
assertTrue(sim.getSolenoidOutput(3));
assertFalse(sim.getSolenoidOutput(4));
assertEquals(0x8, ph.getSolenoids());
// Off
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kOff);
assertTrue(callback3.wasTriggered());
assertFalse(callback3.getSetValue());
assertFalse(callback4.wasTriggered());
assertNull(callback4.getSetValue());
assertFalse(sim.getSolenoidOutput(3));
assertFalse(sim.getSolenoidOutput(4));
assertEquals(0x0, ph.getSolenoids());
}
}
}
@Test
void setCompressorOnTest() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
BooleanCallback callback = new BooleanCallback();
try (PneumaticHub ph = new PneumaticHub(1);
CallbackStore cb = sim.registerCompressorOnCallback(callback, false)) {
assertFalse(ph.getCompressor());
assertFalse(sim.getCompressorOn());
sim.setCompressorOn(true);
assertTrue(ph.getCompressor());
assertTrue(sim.getCompressorOn());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void setEnableDigital() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
EnumCallback callback = new EnumCallback();
try (PneumaticHub ph = new PneumaticHub(1);
CallbackStore cb = sim.registerCompressorConfigTypeCallback(callback, false)) {
ph.disableCompressor();
assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Disabled);
ph.enableCompressorDigital();
assertEquals(sim.getCompressorConfigType(), CompressorConfigType.Digital.getValue());
assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Digital);
assertTrue(callback.wasTriggered());
assertEquals(callback.getSetValue(), CompressorConfigType.Digital.getValue());
}
}
@Test
void setEnableAnalog() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
EnumCallback callback = new EnumCallback();
try (PneumaticHub ph = new PneumaticHub(1);
CallbackStore cb = sim.registerCompressorConfigTypeCallback(callback, false)) {
ph.disableCompressor();
assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Disabled);
ph.enableCompressorAnalog(1, 2);
assertEquals(sim.getCompressorConfigType(), CompressorConfigType.Analog.getValue());
assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Analog);
assertTrue(callback.wasTriggered());
assertEquals(callback.getSetValue(), CompressorConfigType.Analog.getValue());
}
}
@Test
void setEnableHybrid() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
EnumCallback callback = new EnumCallback();
try (PneumaticHub ph = new PneumaticHub(1);
CallbackStore cb = sim.registerCompressorConfigTypeCallback(callback, false)) {
ph.disableCompressor();
assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Disabled);
ph.enableCompressorHybrid(1, 2);
assertEquals(sim.getCompressorConfigType(), CompressorConfigType.Hybrid.getValue());
assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Hybrid);
assertTrue(callback.wasTriggered());
assertEquals(callback.getSetValue(), CompressorConfigType.Hybrid.getValue());
}
}
@Test
void setPressureSwitchEnabledTest() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
BooleanCallback callback = new BooleanCallback();
try (PneumaticHub ph = new PneumaticHub(1);
CallbackStore cb = sim.registerPressureSwitchCallback(callback, false)) {
assertFalse(ph.getPressureSwitch());
sim.setPressureSwitch(true);
assertTrue(sim.getPressureSwitch());
assertTrue(ph.getPressureSwitch());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
}
@Test
void setCompressorCurrentTest() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
DoubleCallback callback = new DoubleCallback();
try (PneumaticHub ph = new PneumaticHub(1);
CallbackStore cb = sim.registerCompressorCurrentCallback(callback, false)) {
assertFalse(ph.getPressureSwitch());
sim.setCompressorCurrent(35.04);
assertEquals(35.04, sim.getCompressorCurrent());
assertEquals(35.04, ph.getCompressorCurrent());
assertTrue(callback.wasTriggered());
assertEquals(35.04, callback.getSetValue());
}
}
}

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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.simulation;
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.wpilibj.RobotController;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
class RoboRioSimTest {
@Test
void testSetVin() {
RoboRioSim.resetData();
DoubleCallback voltageCallback = new DoubleCallback();
try (CallbackStore voltageCb = RoboRioSim.registerVInVoltageCallback(voltageCallback, false)) {
final double kTestVoltage = 1.91;
RoboRioSim.setVInVoltage(kTestVoltage);
assertTrue(voltageCallback.wasTriggered());
assertEquals(kTestVoltage, voltageCallback.getSetValue());
assertEquals(kTestVoltage, RoboRioSim.getVInVoltage());
assertEquals(kTestVoltage, RobotController.getInputVoltage());
}
}
@Test
void testSetBrownout() {
RoboRioSim.resetData();
DoubleCallback voltageCallback = new DoubleCallback();
try (CallbackStore voltageCb =
RoboRioSim.registerBrownoutVoltageCallback(voltageCallback, false)) {
final double kTestVoltage = 1.91;
RoboRioSim.setBrownoutVoltage(kTestVoltage);
assertTrue(voltageCallback.wasTriggered());
assertEquals(kTestVoltage, voltageCallback.getSetValue());
assertEquals(kTestVoltage, RoboRioSim.getBrownoutVoltage());
assertEquals(kTestVoltage, RobotController.getBrownoutVoltage());
}
}
@Test
void test3V3() {
RoboRioSim.resetData();
DoubleCallback voltageCallback = new DoubleCallback();
DoubleCallback currentCallback = new DoubleCallback();
BooleanCallback activeCallback = new BooleanCallback();
IntCallback faultCallback = new IntCallback();
try (CallbackStore voltageCb =
RoboRioSim.registerUserVoltage3V3Callback(voltageCallback, false);
CallbackStore currentCb =
RoboRioSim.registerUserCurrent3V3Callback(currentCallback, false);
CallbackStore activeCb = RoboRioSim.registerUserActive3V3Callback(activeCallback, false);
CallbackStore faultsCb = RoboRioSim.registerUserFaults3V3Callback(faultCallback, false)) {
final double kTestVoltage = 22.9;
final double kTestCurrent = 174;
final int kTestFaults = 229;
RoboRioSim.setUserVoltage3V3(kTestVoltage);
assertTrue(voltageCallback.wasTriggered());
assertEquals(kTestVoltage, voltageCallback.getSetValue());
assertEquals(kTestVoltage, RoboRioSim.getUserVoltage3V3());
assertEquals(kTestVoltage, RobotController.getVoltage3V3());
RoboRioSim.setUserCurrent3V3(kTestCurrent);
assertTrue(currentCallback.wasTriggered());
assertEquals(kTestCurrent, currentCallback.getSetValue());
assertEquals(kTestCurrent, RoboRioSim.getUserCurrent3V3());
assertEquals(kTestCurrent, RobotController.getCurrent3V3());
RoboRioSim.setUserActive3V3(false);
assertTrue(activeCallback.wasTriggered());
assertFalse(activeCallback.getSetValue());
assertFalse(RoboRioSim.getUserActive3V3());
assertFalse(RobotController.getEnabled3V3());
RoboRioSim.setUserFaults3V3(kTestFaults);
assertTrue(faultCallback.wasTriggered());
assertEquals(kTestFaults, faultCallback.getSetValue());
assertEquals(kTestFaults, RoboRioSim.getUserFaults3V3());
assertEquals(kTestFaults, RobotController.getFaultCount3V3());
}
}
@Test
void testCPUTemp() {
RoboRioSim.resetData();
DoubleCallback callback = new DoubleCallback();
try (CallbackStore cb = RoboRioSim.registerCPUTempCallback(callback, false)) {
final double kCPUTemp = 100.0;
RoboRioSim.setCPUTemp(kCPUTemp);
assertTrue(callback.wasTriggered());
assertEquals(kCPUTemp, callback.getSetValue());
assertEquals(kCPUTemp, RoboRioSim.getCPUTemp());
assertEquals(kCPUTemp, RobotController.getCPUTemp());
}
}
@Test
void testTeamNumber() {
RoboRioSim.resetData();
IntCallback callback = new IntCallback();
try (CallbackStore cb = RoboRioSim.registerTeamNumberCallback(callback, false)) {
final int kTeamNumber = 9999;
RoboRioSim.setTeamNumber(kTeamNumber);
assertTrue(callback.wasTriggered());
assertEquals(kTeamNumber, callback.getSetValue());
assertEquals(kTeamNumber, RoboRioSim.getTeamNumber());
assertEquals(kTeamNumber, RobotController.getTeamNumber());
}
}
@Test
void testSerialNumber() {
RoboRioSim.resetData();
final String kSerialNumber = "Hello";
RoboRioSim.setSerialNumber(kSerialNumber);
assertEquals(kSerialNumber, RoboRioSim.getSerialNumber());
assertEquals(kSerialNumber, RobotController.getSerialNumber());
// Make sure it truncates at 8 characters properly
final String kSerialNumberOverflow = "SerialNumber";
final String kSerialNumberTruncated = kSerialNumberOverflow.substring(0, 8);
RoboRioSim.setSerialNumber(kSerialNumberOverflow);
assertEquals(kSerialNumberTruncated, RoboRioSim.getSerialNumber());
assertEquals(kSerialNumberTruncated, RobotController.getSerialNumber());
}
@Test
void testComments() {
RoboRioSim.resetData();
final String kComments = "Hello! These are comments in the roboRIO web interface!";
RoboRioSim.setComments(kComments);
assertEquals(kComments, RoboRioSim.getComments());
assertEquals(kComments, RobotController.getComments());
final String kCommentsOverflow =
"Hello! These are comments in the roboRIO web interface!"
+ " This comment exceeds 64 characters!";
final String kCommentsTruncated = kCommentsOverflow.substring(0, 64);
RoboRioSim.setComments(kCommentsOverflow);
assertEquals(kCommentsTruncated, RoboRioSim.getComments());
assertEquals(kCommentsTruncated, RobotController.getComments());
}
}

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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.simulation;
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.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimValue;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
class SimDeviceSimTest {
@Test
void testBasic() {
try (SimDevice dev = SimDevice.create("test")) {
SimBoolean devBool = dev.createBoolean("bool", Direction.kBidir, false);
SimDeviceSim sim = new SimDeviceSim("test");
SimBoolean simBool = sim.getBoolean("bool");
assertFalse(simBool.get());
simBool.set(true);
assertTrue(devBool.get());
assertEquals(dev.getName(), "test");
}
}
@Test
void testDeviceCreatedCallback() {
AtomicInteger callback1Counter = new AtomicInteger(0);
AtomicInteger callback2Counter = new AtomicInteger(0);
try (SimDevice otherdev = SimDevice.create("testnotDC");
SimDevice dev1 = SimDevice.create("testDC1")) {
try (CallbackStore callback1 =
SimDeviceSim.registerDeviceCreatedCallback(
"testDC", (name, handle) -> callback1Counter.addAndGet(1), false);
CallbackStore callback2 =
SimDeviceSim.registerDeviceCreatedCallback(
"testDC", (name, handle) -> callback2Counter.addAndGet(1), true)) {
assertEquals(0, callback1Counter.get(), "Callback 1 called early");
assertEquals(
1,
callback2Counter.get(),
"Callback 2 called early or not initialized with existing devices");
SimDevice dev2 = SimDevice.create("testDC2");
dev2.close();
assertEquals(
1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
assertEquals(2, callback2Counter.get(), "Callback 2 called either more or less than twice");
}
SimDevice dev3 = SimDevice.create("testDC3");
dev3.close();
assertEquals(1, callback1Counter.get(), "Callback 1 called after closure");
assertEquals(2, callback2Counter.get(), "Callback 2 called after closure");
}
}
@Test
void testDeviceFreedCallback() {
AtomicInteger counter = new AtomicInteger(0);
SimDevice dev1 = SimDevice.create("testDF1");
try (CallbackStore callback =
SimDeviceSim.registerDeviceFreedCallback(
"testDF", (name, handle) -> counter.addAndGet(1), false)) {
assertEquals(0, counter.get(), "Callback called early");
dev1.close();
assertEquals(1, counter.get(), "Callback called either more than once or not at all");
}
SimDevice dev2 = SimDevice.create("testDF2");
dev2.close();
assertEquals(1, counter.get(), "Callback called after closure");
}
@Test
void testValueCreatedCallback() {
AtomicInteger callback1Counter = new AtomicInteger(0);
AtomicInteger callback2Counter = new AtomicInteger(0);
try (SimDevice dev1 = SimDevice.create("testVM1")) {
dev1.createBoolean("v1", Direction.kBidir, false);
SimDeviceSim sim = new SimDeviceSim("testVM1");
try (CallbackStore callback1 =
sim.registerValueCreatedCallback(
(name, handle, readonly, value) -> callback1Counter.addAndGet(1), false);
CallbackStore callback2 =
sim.registerValueCreatedCallback(
(name, handle, readonly, value) -> callback2Counter.addAndGet(1), true)) {
assertEquals(0, callback1Counter.get(), "Callback 1 called early");
assertEquals(
1,
callback2Counter.get(),
"Callback 2 called early or not initialized with existing devices");
dev1.createDouble("v2", Direction.kBidir, 0);
assertEquals(
1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
assertEquals(2, callback2Counter.get(), "Callback 2 called either more or less than twice");
}
dev1.createBoolean("v3", Direction.kBidir, false);
assertEquals(1, callback1Counter.get(), "Callback 1 called after closure");
assertEquals(2, callback2Counter.get(), "Callback 2 called after closure");
}
}
@Test
void testValueChangedCallback() {
AtomicInteger callback1Counter = new AtomicInteger(0);
AtomicInteger callback2Counter = new AtomicInteger(0);
try (SimDevice dev1 = SimDevice.create("testVM1")) {
SimBoolean val = dev1.createBoolean("v1", Direction.kBidir, false);
SimDeviceSim sim = new SimDeviceSim("testVM1");
SimValue simVal = sim.getValue("v1");
try (CallbackStore callback1 =
sim.registerValueChangedCallback(
simVal, (name, handle, readonly, value) -> callback1Counter.addAndGet(1), false);
CallbackStore callback2 =
sim.registerValueChangedCallback(
simVal, (name, handle, readonly, value) -> callback2Counter.addAndGet(1), true)) {
assertEquals(0, callback1Counter.get(), "Callback 1 called early");
assertEquals(
1,
callback2Counter.get(),
"Callback 2 called early or not initialized with existing devices");
val.set(true);
assertEquals(
1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
assertEquals(2, callback2Counter.get(), "Callback 2 called either more or less than twice");
}
val.set(false);
assertEquals(1, callback1Counter.get(), "Callback 1 called after closure");
assertEquals(2, callback2Counter.get(), "Callback 2 called after closure");
}
}
}

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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.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;
class SingleJointedArmSimTest {
@Test
void testArmDisabled() {
SingleJointedArmSim sim =
new SingleJointedArmSim(
DCMotor.getVex775Pro(2),
300,
3.0,
Units.inchesToMeters(30.0),
-Math.PI,
0.0,
true,
Math.PI / 2.0);
// Reset Arm angle to 0
sim.setState(VecBuilder.fill(0.0, 0.0));
for (int i = 0; i < 12 / 0.02; i++) {
sim.setInput(0.0);
sim.update(0.020);
}
// the arm should swing down
assertEquals(-Math.PI / 2.0, sim.getAngle(), 0.1);
}
@Test
void testInitialState() {
double startingAngleRads = Math.PI / 4.0;
SingleJointedArmSim sim =
new SingleJointedArmSim(
DCMotor.getKrakenX60(2),
125,
3.0,
Units.inchesToMeters(30.0),
0,
Math.PI / 2.0,
true,
startingAngleRads);
assertEquals(startingAngleRads, sim.getAngle());
assertEquals(0, sim.getVelocity());
}
}

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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.simulation.testutils;
import edu.wpi.first.hal.HALValue;
public class BooleanCallback extends CallbackHelperBase<Boolean> {
@Override
public void callback(String name, HALValue value) {
if (value.getType() != HALValue.kBoolean) {
throw new IllegalArgumentException("Wrong callback for type " + value.getType());
}
m_wasTriggered = true;
m_setValue = value.getBoolean();
}
}

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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.simulation.testutils;
import edu.wpi.first.hal.simulation.ConstBufferCallback;
import java.util.Arrays;
public class BufferCallback implements ConstBufferCallback {
private boolean m_wasTriggered;
private byte[] m_setValue;
@Override
public void callback(String name, byte[] buffer, int count) {
m_wasTriggered = true;
m_setValue = Arrays.copyOf(buffer, buffer.length);
}
public boolean wasTriggered() {
return m_wasTriggered;
}
public byte[] getSetValue() {
return Arrays.copyOf(m_setValue, m_setValue.length);
}
}

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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.simulation.testutils;
import edu.wpi.first.hal.simulation.NotifyCallback;
public abstract class CallbackHelperBase<T> implements NotifyCallback {
protected boolean m_wasTriggered;
protected T m_setValue;
public final boolean wasTriggered() {
return m_wasTriggered;
}
public final T getSetValue() {
return m_setValue;
}
public final void reset() {
m_wasTriggered = false;
m_setValue = null;
}
}

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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.simulation.testutils;
import edu.wpi.first.hal.HALValue;
public class DoubleCallback extends CallbackHelperBase<Double> {
@Override
public void callback(String name, HALValue value) {
if (value.getType() != HALValue.kDouble) {
throw new IllegalArgumentException("Wrong callback for type " + value.getType());
}
m_wasTriggered = true;
m_setValue = value.getDouble();
}
}

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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.simulation.testutils;
import edu.wpi.first.hal.HALValue;
public class EnumCallback extends CallbackHelperBase<Long> {
@Override
public void callback(String name, HALValue value) {
if (value.getType() != HALValue.kEnum) {
throw new IllegalArgumentException("Wrong callback for type " + value.getType());
}
m_wasTriggered = true;
m_setValue = value.getLong();
}
}

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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.simulation.testutils;
import edu.wpi.first.hal.HALValue;
public class IntCallback extends CallbackHelperBase<Integer> {
@Override
public void callback(String name, HALValue value) {
if (value.getType() != HALValue.kInt) {
throw new IllegalArgumentException("Wrong callback for type " + value.getType());
}
m_wasTriggered = true;
m_setValue = (int) value.getLong();
}
}