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https://github.com/wpilibsuite/allwpilib
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1705b2d61c
This PR also uses the newly added -default-branch flag to generate the list of changed files with respect to the correct branch (2027).
68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/simulation/DutyCycleSim.hpp"
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#include <gtest/gtest.h>
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#include "callback_helpers/TestCallbackHelpers.hpp"
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#include "wpi/hal/HAL.h"
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#include "wpi/hardware/discrete/DigitalInput.hpp"
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#include "wpi/hardware/rotation/DutyCycle.hpp"
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namespace wpi::sim {
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TEST(DutyCycleSimTest, Initialization) {
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HAL_Initialize(500, 0);
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DutyCycleSim sim = DutyCycleSim::CreateForChannel(2);
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EXPECT_FALSE(sim.GetInitialized());
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BooleanCallback callback;
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auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
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DutyCycle dc{2};
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EXPECT_TRUE(sim.GetInitialized());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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callback.Reset();
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sim.SetInitialized(false);
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_FALSE(callback.GetLastValue());
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}
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TEST(DutyCycleSimTest, SetFrequency) {
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HAL_Initialize(500, 0);
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DutyCycle dc{2};
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DutyCycleSim sim(dc);
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DoubleCallback callback;
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auto cb = sim.RegisterFrequencyCallback(callback.GetCallback(), false);
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sim.SetFrequency(191_Hz);
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EXPECT_EQ(191_Hz, sim.GetFrequency());
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EXPECT_EQ(191_Hz, dc.GetFrequency());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(191, callback.GetLastValue());
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}
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TEST(DutyCycleSimTest, SetOutput) {
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HAL_Initialize(500, 0);
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DutyCycle dc{2};
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DutyCycleSim sim(dc);
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DoubleCallback callback;
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auto cb = sim.RegisterOutputCallback(callback.GetCallback(), false);
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sim.SetOutput(229.174);
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EXPECT_EQ(229.174, sim.GetOutput());
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EXPECT_EQ(229.174, dc.GetOutput());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(229.174, callback.GetLastValue());
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}
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} // namespace wpi::sim
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