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wpilibj/src/test/java/org/wpilib/simulation/DIOSimTest.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.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());
+      }
+    }
+  }
+}