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wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java

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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());
+    }
+  }
+}