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[hal] Add a unified PCM object (#3331)

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This commit is contained in:
Thad House
2021-06-05 22:36:39 -07:00
committed by GitHub
parent dea841103d
commit 0e702eb799
103 changed files with 2643 additions and 5676 deletions
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1
hal/src/test/native/cpp/mockdata/DriverStationDataTests.cpp
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@@ -6,7 +6,6 @@
#include "gtest/gtest.h"
#include "hal/HAL.h"
#include "hal/Solenoid.h"
#include "hal/simulation/DriverStationData.h"
namespace hal {

61
hal/src/test/native/cpp/mockdata/PCMDataTests.cpp
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@@ -3,10 +3,10 @@
// the WPILib BSD license file in the root directory of this project.
#include "gtest/gtest.h"
#include "hal/CTREPCM.h"
#include "hal/HAL.h"
#include "hal/Solenoid.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/simulation/PCMData.h"
#include "hal/simulation/CTREPCMData.h"
namespace hal {
@@ -19,62 +19,65 @@ void TestSolenoidInitializationCallback(const char* name, void* param,
gTestSolenoidCallbackValue = *value;
}
TEST(SolenoidSimTests, TestSolenoidInitialization) {
TEST(SolenoidSimTests, TestPCMInitialization) {
const int MODULE_TO_TEST = 2;
const int CHANNEL_TO_TEST = 3;
int callbackParam = 0;
int callbackId = HALSIM_RegisterPCMSolenoidInitializedCallback(
MODULE_TO_TEST, CHANNEL_TO_TEST, &TestSolenoidInitializationCallback,
&callbackParam, false);
int callbackId = HALSIM_RegisterCTREPCMInitializedCallback(
MODULE_TO_TEST, &TestSolenoidInitializationCallback, &callbackParam,
false);
ASSERT_TRUE(0 != callbackId);
int32_t status;
HAL_PortHandle portHandle;
HAL_DigitalHandle solenoidHandle;
int32_t module;
HAL_CTREPCMHandle pcmHandle;
// Use out of range index
status = 0;
portHandle = 8000;
module = 8000;
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
EXPECT_EQ(HAL_HANDLE_ERROR, status);
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
module = MODULE_TO_TEST;
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
// Double initialize... should fail
status = 0;
portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
module = MODULE_TO_TEST;
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
EXPECT_EQ(NO_AVAILABLE_RESOURCES, status);
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
// Reset, should allow you to re-register
hal::HandleBase::ResetGlobalHandles();
HALSIM_ResetPCMData(MODULE_TO_TEST);
callbackId = HALSIM_RegisterPCMSolenoidInitializedCallback(
MODULE_TO_TEST, CHANNEL_TO_TEST, &TestSolenoidInitializationCallback,
&callbackParam, false);
HALSIM_ResetCTREPCMData(MODULE_TO_TEST);
callbackId = HALSIM_RegisterCTREPCMInitializedCallback(
MODULE_TO_TEST, &TestSolenoidInitializationCallback, &callbackParam,
false);
ASSERT_TRUE(0 != callbackId);
status = 0;
portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
module = MODULE_TO_TEST;
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
}
} // namespace hal