mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
300 lines
11 KiB
C++
300 lines
11 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/RoboRioSim.h" // NOLINT(build/include_order)
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#include <gtest/gtest.h>
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#include <hal/HAL.h>
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#include <hal/HALBase.h>
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#include "callback_helpers/TestCallbackHelpers.h"
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#include "frc/RobotController.h"
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namespace frc::sim {
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TEST(RoboRioSimTest, FPGAButton) {
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RoboRioSim::ResetData();
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int dummyStatus = 0;
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BooleanCallback callback;
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auto cb =
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RoboRioSim::RegisterFPGAButtonCallback(callback.GetCallback(), false);
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RoboRioSim::SetFPGAButton(true);
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EXPECT_TRUE(RoboRioSim::GetFPGAButton());
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EXPECT_TRUE(HAL_GetFPGAButton(&dummyStatus));
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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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RoboRioSim::SetFPGAButton(false);
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EXPECT_FALSE(RoboRioSim::GetFPGAButton());
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EXPECT_FALSE(HAL_GetFPGAButton(&dummyStatus));
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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(RoboRioSimTest, SetVin) {
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RoboRioSim::ResetData();
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DoubleCallback voltageCallback;
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DoubleCallback currentCallback;
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auto voltageCb = RoboRioSim::RegisterVInVoltageCallback(
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voltageCallback.GetCallback(), false);
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auto currentCb = RoboRioSim::RegisterVInCurrentCallback(
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currentCallback.GetCallback(), false);
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constexpr double kTestVoltage = 1.91;
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constexpr double kTestCurrent = 35.04;
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RoboRioSim::SetVInVoltage(units::volt_t{kTestVoltage});
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EXPECT_TRUE(voltageCallback.WasTriggered());
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EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
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EXPECT_EQ(kTestVoltage, RoboRioSim::GetVInVoltage().value());
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EXPECT_EQ(kTestVoltage, RobotController::GetInputVoltage());
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RoboRioSim::SetVInCurrent(units::ampere_t{kTestCurrent});
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EXPECT_TRUE(currentCallback.WasTriggered());
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EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
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EXPECT_EQ(kTestCurrent, RoboRioSim::GetVInCurrent().value());
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EXPECT_EQ(kTestCurrent, RobotController::GetInputCurrent());
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}
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TEST(RoboRioSimTest, SetBrownout) {
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RoboRioSim::ResetData();
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DoubleCallback voltageCallback;
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auto voltageCb = RoboRioSim::RegisterBrownoutVoltageCallback(
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voltageCallback.GetCallback(), false);
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constexpr double kTestVoltage = 1.91;
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RoboRioSim::SetBrownoutVoltage(units::volt_t{kTestVoltage});
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EXPECT_TRUE(voltageCallback.WasTriggered());
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EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
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EXPECT_EQ(kTestVoltage, RoboRioSim::GetBrownoutVoltage().value());
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EXPECT_EQ(kTestVoltage, RobotController::GetBrownoutVoltage().value());
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}
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TEST(RoboRioSimTest, Set6V) {
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RoboRioSim::ResetData();
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DoubleCallback voltageCallback;
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DoubleCallback currentCallback;
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BooleanCallback activeCallback;
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IntCallback faultCallback;
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auto voltageCb = RoboRioSim::RegisterUserVoltage6VCallback(
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voltageCallback.GetCallback(), false);
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auto currentCb = RoboRioSim::RegisterUserCurrent6VCallback(
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currentCallback.GetCallback(), false);
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auto activeCb = RoboRioSim::RegisterUserActive6VCallback(
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activeCallback.GetCallback(), false);
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auto faultsCb = RoboRioSim::RegisterUserFaults6VCallback(
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faultCallback.GetCallback(), false);
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constexpr double kTestVoltage = 22.9;
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constexpr double kTestCurrent = 174;
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constexpr int kTestFaults = 229;
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RoboRioSim::SetUserVoltage6V(units::volt_t{kTestVoltage});
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EXPECT_TRUE(voltageCallback.WasTriggered());
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EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
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EXPECT_EQ(kTestVoltage, RoboRioSim::GetUserVoltage6V().value());
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EXPECT_EQ(kTestVoltage, RobotController::GetVoltage6V());
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RoboRioSim::SetUserCurrent6V(units::ampere_t{kTestCurrent});
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EXPECT_TRUE(currentCallback.WasTriggered());
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EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
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EXPECT_EQ(kTestCurrent, RoboRioSim::GetUserCurrent6V().value());
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EXPECT_EQ(kTestCurrent, RobotController::GetCurrent6V());
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RoboRioSim::SetUserActive6V(false);
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EXPECT_TRUE(activeCallback.WasTriggered());
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EXPECT_FALSE(activeCallback.GetLastValue());
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EXPECT_FALSE(RoboRioSim::GetUserActive6V());
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EXPECT_FALSE(RobotController::GetEnabled6V());
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RoboRioSim::SetUserFaults6V(kTestFaults);
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EXPECT_TRUE(faultCallback.WasTriggered());
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EXPECT_EQ(kTestFaults, faultCallback.GetLastValue());
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EXPECT_EQ(kTestFaults, RoboRioSim::GetUserFaults6V());
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EXPECT_EQ(kTestFaults, RobotController::GetFaultCount6V());
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}
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TEST(RoboRioSimTest, Set5V) {
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RoboRioSim::ResetData();
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DoubleCallback voltageCallback;
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DoubleCallback currentCallback;
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BooleanCallback activeCallback;
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IntCallback faultCallback;
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auto voltageCb = RoboRioSim::RegisterUserVoltage5VCallback(
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voltageCallback.GetCallback(), false);
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auto currentCb = RoboRioSim::RegisterUserCurrent5VCallback(
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currentCallback.GetCallback(), false);
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auto activeCb = RoboRioSim::RegisterUserActive5VCallback(
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activeCallback.GetCallback(), false);
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auto faultsCb = RoboRioSim::RegisterUserFaults5VCallback(
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faultCallback.GetCallback(), false);
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constexpr double kTestVoltage = 22.9;
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constexpr double kTestCurrent = 174;
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constexpr int kTestFaults = 229;
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RoboRioSim::SetUserVoltage5V(units::volt_t{kTestVoltage});
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EXPECT_TRUE(voltageCallback.WasTriggered());
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EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
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EXPECT_EQ(kTestVoltage, RoboRioSim::GetUserVoltage5V().value());
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EXPECT_EQ(kTestVoltage, RobotController::GetVoltage5V());
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RoboRioSim::SetUserCurrent5V(units::ampere_t{kTestCurrent});
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EXPECT_TRUE(currentCallback.WasTriggered());
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EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
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EXPECT_EQ(kTestCurrent, RoboRioSim::GetUserCurrent5V().value());
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EXPECT_EQ(kTestCurrent, RobotController::GetCurrent5V());
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RoboRioSim::SetUserActive5V(false);
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EXPECT_TRUE(activeCallback.WasTriggered());
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EXPECT_FALSE(activeCallback.GetLastValue());
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EXPECT_FALSE(RoboRioSim::GetUserActive5V());
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EXPECT_FALSE(RobotController::GetEnabled5V());
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RoboRioSim::SetUserFaults5V(kTestFaults);
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EXPECT_TRUE(faultCallback.WasTriggered());
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EXPECT_EQ(kTestFaults, faultCallback.GetLastValue());
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EXPECT_EQ(kTestFaults, RoboRioSim::GetUserFaults5V());
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EXPECT_EQ(kTestFaults, RobotController::GetFaultCount5V());
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}
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TEST(RoboRioSimTest, Set3V3) {
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RoboRioSim::ResetData();
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DoubleCallback voltageCallback;
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DoubleCallback currentCallback;
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BooleanCallback activeCallback;
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IntCallback faultCallback;
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auto voltageCb = RoboRioSim::RegisterUserVoltage3V3Callback(
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voltageCallback.GetCallback(), false);
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auto currentCb = RoboRioSim::RegisterUserCurrent3V3Callback(
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currentCallback.GetCallback(), false);
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auto activeCb = RoboRioSim::RegisterUserActive3V3Callback(
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activeCallback.GetCallback(), false);
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auto faultsCb = RoboRioSim::RegisterUserFaults3V3Callback(
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faultCallback.GetCallback(), false);
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constexpr double kTestVoltage = 22.9;
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constexpr double kTestCurrent = 174;
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constexpr int kTestFaults = 229;
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RoboRioSim::SetUserVoltage3V3(units::volt_t{kTestVoltage});
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EXPECT_TRUE(voltageCallback.WasTriggered());
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EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
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EXPECT_EQ(kTestVoltage, RoboRioSim::GetUserVoltage3V3().value());
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EXPECT_EQ(kTestVoltage, RobotController::GetVoltage3V3());
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RoboRioSim::SetUserCurrent3V3(units::ampere_t{kTestCurrent});
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EXPECT_TRUE(currentCallback.WasTriggered());
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EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
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EXPECT_EQ(kTestCurrent, RoboRioSim::GetUserCurrent3V3().value());
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EXPECT_EQ(kTestCurrent, RobotController::GetCurrent3V3());
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RoboRioSim::SetUserActive3V3(false);
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EXPECT_TRUE(activeCallback.WasTriggered());
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EXPECT_FALSE(activeCallback.GetLastValue());
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EXPECT_FALSE(RoboRioSim::GetUserActive3V3());
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EXPECT_FALSE(RobotController::GetEnabled3V3());
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RoboRioSim::SetUserFaults3V3(kTestFaults);
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EXPECT_TRUE(faultCallback.WasTriggered());
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EXPECT_EQ(kTestFaults, faultCallback.GetLastValue());
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EXPECT_EQ(kTestFaults, RoboRioSim::GetUserFaults3V3());
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EXPECT_EQ(kTestFaults, RobotController::GetFaultCount3V3());
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}
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TEST(RoboRioSimTest, SetCPUTemp) {
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RoboRioSim::ResetData();
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DoubleCallback callback;
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auto cbHandle =
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RoboRioSim::RegisterCPUTempCallback(callback.GetCallback(), false);
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constexpr double kCPUTemp = 100.0;
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RoboRioSim::SetCPUTemp(units::celsius_t{kCPUTemp});
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(kCPUTemp, callback.GetLastValue());
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EXPECT_EQ(kCPUTemp, RoboRioSim::GetCPUTemp().value());
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EXPECT_EQ(kCPUTemp, RobotController::GetCPUTemp().value());
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}
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TEST(RoboRioSimTest, SetTeamNumber) {
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RoboRioSim::ResetData();
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IntCallback callback;
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auto cbHandle =
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RoboRioSim::RegisterTeamNumberCallback(callback.GetCallback(), false);
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constexpr int kTeamNumber = 9999;
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RoboRioSim::SetTeamNumber(kTeamNumber);
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(kTeamNumber, callback.GetLastValue());
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EXPECT_EQ(kTeamNumber, RoboRioSim::GetTeamNumber());
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EXPECT_EQ(kTeamNumber, RobotController::GetTeamNumber());
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}
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TEST(RoboRioSimTest, SetSerialNumber) {
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const std::string kSerialNum = "Hello";
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RoboRioSim::ResetData();
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RoboRioSim::SetSerialNumber(kSerialNum);
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EXPECT_EQ(kSerialNum, RoboRioSim::GetSerialNumber());
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EXPECT_EQ(kSerialNum, RobotController::GetSerialNumber());
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const std::string kSerialNumberOverflow = "SerialNumber";
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const std::string kSerialNumberTruncated = kSerialNumberOverflow.substr(0, 8);
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RoboRioSim::SetSerialNumber(kSerialNumberOverflow);
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EXPECT_EQ(kSerialNumberTruncated, RoboRioSim::GetSerialNumber());
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EXPECT_EQ(kSerialNumberTruncated, RobotController::GetSerialNumber());
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}
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TEST(RoboRioSimTest, SetComments) {
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const std::string kComments =
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"Hello! These are comments in the roboRIO web interface!";
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RoboRioSim::ResetData();
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RoboRioSim::SetComments(kComments);
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EXPECT_EQ(kComments, RoboRioSim::GetComments());
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EXPECT_EQ(kComments, RobotController::GetComments());
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const std::string kCommentsOverflow =
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"Hello! These are comments in the roboRIO web interface! This comment "
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"exceeds 64 characters!";
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const std::string kCommentsTruncated = kCommentsOverflow.substr(0, 64);
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RoboRioSim::SetComments(kCommentsOverflow);
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EXPECT_EQ(kCommentsTruncated, RoboRioSim::GetComments());
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EXPECT_EQ(kCommentsTruncated, RobotController::GetComments());
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}
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TEST(RoboRioSimTest, SetRadioLEDState) {
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RoboRioSim::ResetData();
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EnumCallback callback;
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auto cbHandle =
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RoboRioSim::RegisterRadioLEDStateCallback(callback.GetCallback(), false);
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RobotController::SetRadioLEDState(RadioLEDState::kGreen);
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(RadioLEDState::kGreen, callback.GetLastValue());
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EXPECT_EQ(RadioLEDState::kGreen, RoboRioSim::GetRadioLEDState());
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EXPECT_EQ(RadioLEDState::kGreen, RobotController::GetRadioLEDState());
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callback.Reset();
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RoboRioSim::SetRadioLEDState(RadioLEDState::kOrange);
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(RadioLEDState::kOrange, callback.GetLastValue());
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EXPECT_EQ(RadioLEDState::kOrange, RoboRioSim::GetRadioLEDState());
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EXPECT_EQ(RadioLEDState::kOrange, RobotController::GetRadioLEDState());
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}
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} // namespace frc::sim
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