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https://github.com/wpilibsuite/allwpilib
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80 lines
3.1 KiB
Java
80 lines
3.1 KiB
Java
// 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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package org.wpilib.driverstation;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertFalse;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import org.wpilib.hardware.hal.HAL;
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import org.wpilib.simulation.XboxControllerSim;
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import java.lang.reflect.InvocationTargetException;
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import java.lang.reflect.Method;
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import org.junit.jupiter.params.ParameterizedTest;
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import org.junit.jupiter.params.provider.EnumSource;
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class XboxControllerTest {
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@ParameterizedTest
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@EnumSource(value = XboxController.Button.class)
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void testButtons(XboxController.Button button)
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throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
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HAL.initialize(500, 0);
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XboxController joy = new XboxController(2);
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XboxControllerSim joysim = new XboxControllerSim(joy);
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var buttonName = button.toString();
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String simSetMethodName = "set" + buttonName;
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String joyGetMethodName = "get" + buttonName;
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String joyPressedMethodName = "get" + buttonName + "Pressed";
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String joyReleasedMethodName = "get" + buttonName + "Released";
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final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
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final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
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final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
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final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
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simSetMethod.invoke(joysim, false);
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joysim.notifyNewData();
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assertFalse((Boolean) joyGetMethod.invoke(joy));
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// need to call pressed and released to clear flags
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joyPressedMethod.invoke(joy);
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joyReleasedMethod.invoke(joy);
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simSetMethod.invoke(joysim, true);
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joysim.notifyNewData();
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assertTrue((Boolean) joyGetMethod.invoke(joy));
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assertTrue((Boolean) joyPressedMethod.invoke(joy));
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assertFalse((Boolean) joyReleasedMethod.invoke(joy));
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simSetMethod.invoke(joysim, false);
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joysim.notifyNewData();
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assertFalse((Boolean) joyGetMethod.invoke(joy));
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assertFalse((Boolean) joyPressedMethod.invoke(joy));
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assertTrue((Boolean) joyReleasedMethod.invoke(joy));
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}
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@ParameterizedTest
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@EnumSource(value = XboxController.Axis.class)
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void testAxes(XboxController.Axis axis)
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throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
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HAL.initialize(500, 0);
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XboxController joy = new XboxController(2);
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XboxControllerSim joysim = new XboxControllerSim(joy);
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var axisName = axis.toString();
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String simSetMethodName = "set" + axisName;
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String joyGetMethodName = "get" + axisName;
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Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
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Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
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simSetMethod.invoke(joysim, 0.35);
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joysim.notifyNewData();
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assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
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}
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}
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