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121 lines
2.8 KiB
C++
121 lines
2.8 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 "frc/simulation/PWMSim.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/PWM.h"
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#include "gtest/gtest.h"
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namespace frc::sim {
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TEST(PWMSimTest, Initialize) {
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HAL_Initialize(500, 0);
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PWMSim sim{0};
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sim.ResetData();
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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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PWM pwm{0};
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EXPECT_TRUE(sim.GetInitialized());
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}
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TEST(PWMSimTest, SetRawValue) {
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HAL_Initialize(500, 0);
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PWMSim sim{0};
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sim.ResetData();
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EXPECT_FALSE(sim.GetInitialized());
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IntCallback callback;
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auto cb = sim.RegisterRawValueCallback(callback.GetCallback(), false);
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PWM pwm{0};
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sim.SetRawValue(229);
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EXPECT_EQ(229, sim.GetRawValue());
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EXPECT_EQ(229, pwm.GetRaw());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(229, callback.GetLastValue());
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}
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TEST(PWMSimTest, SetSpeed) {
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HAL_Initialize(500, 0);
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PWMSim sim{0};
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sim.ResetData();
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EXPECT_FALSE(sim.GetInitialized());
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DoubleCallback callback;
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auto cb = sim.RegisterSpeedCallback(callback.GetCallback(), false);
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PWM pwm{0};
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constexpr double kTestValue = 0.3504;
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pwm.SetSpeed(kTestValue);
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EXPECT_EQ(kTestValue, sim.GetSpeed());
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EXPECT_EQ(kTestValue, pwm.GetSpeed());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(kTestValue, callback.GetLastValue());
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}
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TEST(PWMSimTest, SetPosition) {
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HAL_Initialize(500, 0);
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PWMSim sim{0};
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sim.ResetData();
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EXPECT_FALSE(sim.GetInitialized());
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DoubleCallback callback;
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auto cb = sim.RegisterPositionCallback(callback.GetCallback(), false);
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PWM pwm{0};
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constexpr double kTestValue = 0.3504;
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pwm.SetPosition(kTestValue);
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EXPECT_EQ(kTestValue, sim.GetPosition());
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EXPECT_EQ(kTestValue, pwm.GetPosition());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(kTestValue, callback.GetLastValue());
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}
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TEST(PWMSimTest, SetPeriodScale) {
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HAL_Initialize(500, 0);
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PWMSim sim{0};
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sim.ResetData();
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EXPECT_FALSE(sim.GetInitialized());
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IntCallback callback;
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auto cb = sim.RegisterPeriodScaleCallback(callback.GetCallback(), false);
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PWM pwm{0};
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sim.SetPeriodScale(3504);
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EXPECT_EQ(3504, sim.GetPeriodScale());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_EQ(3504, callback.GetLastValue());
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}
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TEST(PWMSimTest, SetZeroLatch) {
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HAL_Initialize(500, 0);
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PWMSim sim{0};
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sim.ResetData();
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EXPECT_FALSE(sim.GetInitialized());
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BooleanCallback callback;
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auto cb = sim.RegisterZeroLatchCallback(callback.GetCallback(), false);
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PWM pwm{0};
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pwm.SetZeroLatch();
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EXPECT_TRUE(callback.WasTriggered());
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}
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} // namespace frc::sim
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