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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).
107 lines
3.2 KiB
C++
107 lines
3.2 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/PowerDistributionSim.hpp"
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#include <vector>
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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/power/PowerDistribution.hpp"
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namespace wpi::sim {
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TEST(PowerDistributionSimTest, Initialize) {
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HAL_Initialize(500, 0);
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PowerDistributionSim sim{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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PowerDistribution pdp(0, 2, wpi::PowerDistribution::ModuleType::kCTRE);
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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(PowerDistributionSimTest, SetTemperature) {
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HAL_Initialize(500, 0);
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PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kCTRE};
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PowerDistributionSim sim(pdp);
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DoubleCallback callback;
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auto cb = sim.RegisterTemperatureCallback(callback.GetCallback(), false);
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sim.SetTemperature(35.04);
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EXPECT_EQ(35.04, sim.GetTemperature());
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EXPECT_EQ(35.04, pdp.GetTemperature());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(PowerDistributionSimTest, SetVoltage) {
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HAL_Initialize(500, 0);
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PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kCTRE};
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PowerDistributionSim sim(pdp);
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DoubleCallback callback;
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auto cb = sim.RegisterVoltageCallback(callback.GetCallback(), false);
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sim.SetVoltage(35.04);
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EXPECT_EQ(35.04, sim.GetVoltage());
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EXPECT_EQ(35.04, pdp.GetVoltage());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(PowerDistributionSimTest, SetCurrent) {
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HAL_Initialize(500, 0);
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PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kCTRE};
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PowerDistributionSim sim(pdp);
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for (int channel = 0; channel < HAL_GetNumCTREPDPChannels(); ++channel) {
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DoubleCallback callback;
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auto cb =
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sim.RegisterCurrentCallback(channel, callback.GetCallback(), false);
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const double kTestCurrent = 35.04 + channel;
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sim.SetCurrent(channel, kTestCurrent);
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EXPECT_EQ(kTestCurrent, sim.GetCurrent(channel));
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EXPECT_EQ(kTestCurrent, pdp.GetCurrent(channel));
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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}
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TEST(PowerDistributionSimTest, GetAllCurrents) {
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HAL_Initialize(500, 0);
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PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kRev};
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PowerDistributionSim sim(pdp);
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// setup
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for (int channel = 0; channel < pdp.GetNumChannels(); ++channel) {
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const double kTestCurrent = 24 - channel;
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sim.SetCurrent(channel, kTestCurrent);
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}
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// run it
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std::vector<double> currents = pdp.GetAllCurrents();
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// verify
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for (int channel = 0; channel < pdp.GetNumChannels(); ++channel) {
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const double kTestCurrent = 24 - channel;
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EXPECT_EQ(kTestCurrent, currents[channel]);
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}
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}
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} // namespace wpi::sim
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