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Add names to simulator components (#1268)

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Makes configuration easier when you can associate the items with a name
instead of just a port number. Important if there is a GUI added at some
point.
This commit is contained in:
PJ Reiniger
2018-08-23 20:59:09 -04:00
committed by Peter Johnson
parent 8d8f120cc3
commit de212a9dd0
30 changed files with 207 additions and 24 deletions
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17
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
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@@ -15,17 +15,22 @@ TEST(AccelerometerTests, TestADXL345_I2CAccelerometerWrapper) {
frc::I2C::Port port = frc::I2C::kOnboard;
frc::ADXL345_I2C accel{port};
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
hal::ADXL345_I2CData rawAdxSim(port);
frc::sim::lowfi::ADXLThreeAxisAccelerometerSim accelerometerSim(rawAdxSim);
frc::sim::lowfi::AccelerometerSim& xWrapper = accelerometerSim.GetXWrapper();
frc::sim::lowfi::AccelerometerSim& yWrapper = accelerometerSim.GetYWrapper();
frc::sim::lowfi::AccelerometerSim& zWrapper = accelerometerSim.GetZWrapper();
EXPECT_FALSE(xWrapper.IsWrapperInitialized());
EXPECT_FALSE(yWrapper.IsWrapperInitialized());
EXPECT_FALSE(zWrapper.IsWrapperInitialized());
frc::ADXL345_I2C accel{port};
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
EXPECT_TRUE(xWrapper.IsWrapperInitialized());
EXPECT_TRUE(yWrapper.IsWrapperInitialized());
EXPECT_TRUE(zWrapper.IsWrapperInitialized());
xWrapper.SetAcceleration(1.45);
EXPECT_NEAR(1.45, accel.GetX(), EPSILON);

9
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
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@@ -25,16 +25,23 @@ void TestGyro(frc::sim::lowfi::GyroSim& sim, frc::Gyro& gyro) {
TEST(GyroSimulatorTests, TestAnalogGyro) {
int port = 1;
frc::AnalogGyro gyro{port};
frc::sim::lowfi::WpiAnalogGyroSim sim{port};
EXPECT_FALSE(sim.IsWrapperInitialized());
frc::AnalogGyro gyro{port};
EXPECT_TRUE(sim.IsWrapperInitialized());
TestGyro(sim, gyro);
}
TEST(GyroSimulatorTests, TestSpiGyro) {
frc::SPI::Port port = frc::SPI::kOnboardCS0;
frc::sim::lowfi::ADXRS450_SpiGyroSim sim{port};
EXPECT_FALSE(sim.IsWrapperInitialized());
frc::ADXRS450_Gyro gyro{port};
EXPECT_TRUE(sim.IsWrapperInitialized());
TestGyro(sim, gyro);
}

10
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/MotorEncoderSimulatorTest.cpp
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@@ -14,14 +14,18 @@
#include "lowfisim/wpisimulators/WpiMotorSim.h"
TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseFullSpeed) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
EXPECT_FALSE(motorSim.IsWrapperInitialized());
EXPECT_FALSE(encoderSim.IsWrapperInitialized());
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
EXPECT_TRUE(motorSim.IsWrapperInitialized());
EXPECT_TRUE(encoderSim.IsWrapperInitialized());
talon.Set(-1);
motorSim.Update(1);
connector.Update();

3
simulation/lowfi_simulation/src/test/native/cpp/main.cpp
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@@ -5,9 +5,12 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <hal/HAL.h>
#include "gtest/gtest.h"
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;