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