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27 lines
740 B
C++
27 lines
740 B
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/Ultrasonic.h"
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#include "frc/simulation/UltrasonicSim.h"
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#include "gtest/gtest.h"
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namespace frc {
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TEST(UltrasonicTest, SimDevices) {
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Ultrasonic ultrasonic{0, 1};
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sim::UltrasonicSim sim{ultrasonic};
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EXPECT_EQ(0, ultrasonic.GetRange().value());
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EXPECT_TRUE(ultrasonic.IsRangeValid());
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sim.SetRange(units::meter_t{35.04});
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EXPECT_EQ(35.04, ultrasonic.GetRange().value());
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sim.SetRangeValid(false);
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EXPECT_FALSE(ultrasonic.IsRangeValid());
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EXPECT_EQ(0, ultrasonic.GetRange().value());
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}
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} // namespace frc
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