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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/simulation/REVPHSimTest.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.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());
}
}
}