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56 lines
1.6 KiB
C++
56 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/AnalogTriggerSim.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 "callback_helpers/TestCallbackHelpers.h"
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#include "frc/AnalogTrigger.h"
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namespace frc::sim {
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TEST(AnalogTriggerSimTest, Initialization) {
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HAL_Initialize(500, 0);
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AnalogTriggerSim sim = AnalogTriggerSim::CreateForIndex(0);
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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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AnalogTrigger trigger{0};
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EXPECT_TRUE(sim.GetInitialized());
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EXPECT_TRUE(callback.WasTriggered());
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EXPECT_TRUE(callback.GetLastValue());
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}
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TEST(AnalogTriggerSimTest, TriggerLowerBound) {
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HAL_Initialize(500, 0);
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AnalogTrigger trigger{0};
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AnalogTriggerSim sim(trigger);
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DoubleCallback lowerCallback;
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DoubleCallback upperCallback;
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auto lowerCb =
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sim.RegisterTriggerLowerBoundCallback(lowerCallback.GetCallback(), false);
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auto upperCb =
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sim.RegisterTriggerUpperBoundCallback(upperCallback.GetCallback(), false);
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trigger.SetLimitsVoltage(0.299, 1.91);
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EXPECT_EQ(0.299, sim.GetTriggerLowerBound());
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EXPECT_EQ(1.91, sim.GetTriggerUpperBound());
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EXPECT_TRUE(lowerCallback.WasTriggered());
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EXPECT_EQ(0.299, lowerCallback.GetLastValue());
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EXPECT_TRUE(upperCallback.WasTriggered());
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EXPECT_EQ(1.91, upperCallback.GetLastValue());
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}
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} // namespace frc::sim
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