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58 lines
1.6 KiB
C++
58 lines
1.6 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 "frc/simulation/DigitalPWMSim.h" // NOLINT(build/include_order)
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#include <hal/HAL.h>
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#include "callback_helpers/TestCallbackHelpers.h"
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#include "frc/DigitalOutput.h"
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#include "gtest/gtest.h"
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namespace frc::sim {
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TEST(DigitalPWMSimTest, Initialize) {
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HAL_Initialize(500, 0);
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DigitalOutput output{0};
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DigitalPWMSim sim(output);
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EXPECT_FALSE(sim.GetInitialized());
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BooleanCallback initializeCallback;
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auto initCb =
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sim.RegisterInitializedCallback(initializeCallback.GetCallback(), false);
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DoubleCallback dutyCycleCallback;
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auto dutyCycleCB =
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sim.RegisterDutyCycleCallback(dutyCycleCallback.GetCallback(), false);
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constexpr double kTestDutyCycle = 0.191;
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output.EnablePWM(kTestDutyCycle);
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EXPECT_TRUE(sim.GetInitialized());
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EXPECT_TRUE(initializeCallback.WasTriggered());
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EXPECT_TRUE(initializeCallback.GetLastValue());
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EXPECT_EQ(kTestDutyCycle, sim.GetDutyCycle());
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EXPECT_TRUE(dutyCycleCallback.WasTriggered());
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EXPECT_EQ(kTestDutyCycle, dutyCycleCallback.GetLastValue());
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}
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TEST(DigitalPWMSimTest, SetPin) {
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HAL_Initialize(500, 0);
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DigitalOutput output{2};
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DigitalPWMSim sim(output);
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IntCallback callback;
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auto cb = sim.RegisterPinCallback(callback.GetCallback(), false);
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sim.SetPin(191);
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EXPECT_EQ(191, sim.GetPin());
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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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} // namespace frc::sim
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