allwpilib/wpilibj/src/test/java/org/wpilib/simulation/AnalogInputSimTest.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package org.wpilib.simulation;

import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;

import org.junit.jupiter.api.Test;
import org.wpilib.hardware.discrete.AnalogInput;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.simulation.testutils.BooleanCallback;
import org.wpilib.simulation.testutils.DoubleCallback;

class AnalogInputSimTest {
  @Test
  void setInitializeTest() {
    HAL.initialize(500, 0);

    AnalogInputSim sim = new AnalogInputSim(5);
    BooleanCallback callback = new BooleanCallback();

    try (CallbackStore cb = sim.registerInitializedCallback(callback, false);
        AnalogInput input = new AnalogInput(5)) {
      assertTrue(callback.wasTriggered());
      assertTrue(callback.getSetValue());
    }
  }

  @Test
  void testSetVoltage() {
    HAL.initialize(500, 0);

    AnalogInputSim sim = new AnalogInputSim(5);
    DoubleCallback callback = new DoubleCallback();

    try (CallbackStore cb = sim.registerVoltageCallback(callback, false);
        AnalogInput input = new AnalogInput(5)) {
      // Bootstrap the voltage to be non-zero
      sim.setVoltage(1.0);

      for (double i = 0; i < 5.0; i += 0.1) {
        callback.reset();

        sim.setVoltage(0);
        assertEquals(input.getVoltage(), 0, 0.001);

        callback.reset();
        sim.setVoltage(i);
        assertEquals(input.getVoltage(), i, 0.001);
      }
    }
  }
}