mirror of
https://github.com/wpilibsuite/allwpilib
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102 lines
2.8 KiB
C++
102 lines
2.8 KiB
C++
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// 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 <hal/DIO.h>
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#include <wpi/SmallVector.h>
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#include "CrossConnects.h"
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#include "LifetimeWrappers.h"
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#include "gtest/gtest.h"
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using namespace hlt;
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class DIOTest : public ::testing::TestWithParam<std::pair<int, int>> {};
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TEST_P(DIOTest, TestDIOCross) {
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auto param = GetParam();
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int32_t status = 0;
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DIOHandle first{param.first, false, &status};
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ASSERT_EQ(0, status);
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DIOHandle second{param.second, true, &status};
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ASSERT_EQ(0, status);
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HAL_SetDIO(first, false, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_FALSE(HAL_GetDIO(first, &status));
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ASSERT_EQ(0, status);
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ASSERT_FALSE(HAL_GetDIO(second, &status));
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ASSERT_EQ(0, status);
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HAL_SetDIO(first, true, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_TRUE(HAL_GetDIO(second, &status));
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ASSERT_EQ(0, status);
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HAL_SetDIODirection(first, true, &status);
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ASSERT_EQ(0, status);
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HAL_SetDIODirection(second, false, &status);
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ASSERT_EQ(0, status);
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HAL_SetDIO(second, false, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_FALSE(HAL_GetDIO(first, &status));
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ASSERT_EQ(0, status);
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HAL_SetDIO(second, true, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_TRUE(HAL_GetDIO(first, &status));
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ASSERT_EQ(0, status);
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}
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TEST(DIOTest, TestAllocateAll) {
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wpi::SmallVector<DIOHandle, 32> dioHandles;
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for (int i = 0; i < HAL_GetNumDigitalChannels(); i++) {
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int32_t status = 0;
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dioHandles.emplace_back(i, true, &status);
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ASSERT_EQ(status, 0);
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}
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}
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TEST(DIOTest, TestMultipleAllocateFails) {
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int32_t status = 0;
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DIOHandle handle(0, true, &status);
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ASSERT_NE(handle, HAL_kInvalidHandle);
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ASSERT_EQ(status, 0);
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DIOHandle handle2(0, true, &status);
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ASSERT_EQ(handle2, HAL_kInvalidHandle);
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ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
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}
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TEST(DIOTest, TestOverAllocateFails) {
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int32_t status = 0;
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DIOHandle handle(HAL_GetNumDigitalChannels(), true, &status);
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ASSERT_EQ(handle, HAL_kInvalidHandle);
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ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
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}
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TEST(DIOTest, TestUnderAllocateFails) {
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int32_t status = 0;
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DIOHandle handle(-1, true, &status);
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ASSERT_EQ(handle, HAL_kInvalidHandle);
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ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
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}
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TEST(DIOTest, TestCrossAllocationFails) {
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int32_t status = 0;
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PWMHandle pwmHandle(10, &status);
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ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
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ASSERT_EQ(status, 0);
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DIOHandle handle(10, true, &status);
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ASSERT_EQ(handle, HAL_kInvalidHandle);
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ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
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}
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INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTest, DIOTest,
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::testing::ValuesIn(DIOCrossConnects));
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