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[hal, wpilib] Add REV PneumaticsHub (#3600)

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This commit is contained in:
Thad House
2021-10-10 20:04:50 -07:00
committed by GitHub
parent 4c61a13057
commit 10f19e6fc3
49 changed files with 8383 additions and 19 deletions
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75
wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp Normal file
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@@ -0,0 +1,75 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <hal/HAL.h>
#include "frc/DoubleSolenoid.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/Solenoid.h"
#include "gtest/gtest.h"
namespace frc {
TEST(DoubleSolenoidCTRETest, ValidInitialization) {
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
solenoid.Set(DoubleSolenoid::kForward);
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Set(DoubleSolenoid::kOff);
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowReversePortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
Solenoid solenoid1(6, frc::PneumaticsModuleType::CTREPCM, 3);
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, Toggle) {
DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
// Of shouldn't do anything on toggle
solenoid.Set(DoubleSolenoid::kOff);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, InvalidReversePort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
std::runtime_error);
}
} // namespace frc

14
wpilibc/src/test/native/cpp/DoubleSolenoidTest.cpp → wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
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@@ -11,7 +11,7 @@
namespace frc {
TEST(DoubleSolenoidTest, ValidInitialization) {
TEST(DoubleSolenoidREVTest, ValidInitialization) {
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
@@ -23,21 +23,21 @@ TEST(DoubleSolenoidTest, ValidInitialization) {
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidTest, ThrowForwardPortAlreadyInitialized) {
TEST(DoubleSolenoidREVTest, ThrowForwardPortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidTest, ThrowReversePortAlreadyInitialized) {
TEST(DoubleSolenoidREVTest, ThrowReversePortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
TEST(DoubleSolenoidREVTest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
@@ -46,7 +46,7 @@ TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
std::runtime_error);
}
TEST(DoubleSolenoidTest, Toggle) {
TEST(DoubleSolenoidREVTest, Toggle) {
DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
@@ -63,12 +63,12 @@ TEST(DoubleSolenoidTest, Toggle) {
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidTest, InvalidForwardPort) {
TEST(DoubleSolenoidREVTest, InvalidForwardPort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
std::runtime_error);
}
TEST(DoubleSolenoidTest, InvalidReversePort) {
TEST(DoubleSolenoidREVTest, InvalidReversePort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
std::runtime_error);
}

10
wpilibc/src/test/native/cpp/SolenoidTest.cpp → wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
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@@ -10,7 +10,7 @@
#include "gtest/gtest.h"
namespace frc {
TEST(SolenoidTest, ValidInitialization) {
TEST(SolenoidCTRETest, ValidInitialization) {
Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_EQ(2, solenoid.GetChannel());
@@ -21,24 +21,24 @@ TEST(SolenoidTest, ValidInitialization) {
EXPECT_FALSE(solenoid.Get());
}
TEST(SolenoidTest, DoubleInitialization) {
TEST(SolenoidCTRETest, DoubleInitialization) {
Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
std::runtime_error);
}
TEST(SolenoidTest, DoubleInitializationFromDoubleSolenoid) {
TEST(SolenoidCTRETest, DoubleInitializationFromDoubleSolenoid) {
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
std::runtime_error);
}
TEST(SolenoidTest, InvalidChannel) {
TEST(SolenoidCTRETest, InvalidChannel) {
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 100),
std::runtime_error);
}
TEST(SolenoidTest, Toggle) {
TEST(SolenoidCTRETest, Toggle) {
Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
solenoid.Set(true);
EXPECT_TRUE(solenoid.Get());

52
wpilibc/src/test/native/cpp/SolenoidTestREV.cpp Normal file
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@@ -0,0 +1,52 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <hal/HAL.h>
#include "frc/DoubleSolenoid.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/Solenoid.h"
#include "gtest/gtest.h"
namespace frc {
TEST(SolenoidREVTest, ValidInitialization) {
Solenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2};
EXPECT_EQ(2, solenoid.GetChannel());
solenoid.Set(true);
EXPECT_TRUE(solenoid.Get());
solenoid.Set(false);
EXPECT_FALSE(solenoid.Get());
}
TEST(SolenoidREVTest, DoubleInitialization) {
Solenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2};
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::REVPH, 2),
std::runtime_error);
}
TEST(SolenoidREVTest, DoubleInitializationFromDoubleSolenoid) {
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2, 3};
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::REVPH, 2),
std::runtime_error);
}
TEST(SolenoidREVTest, InvalidChannel) {
EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::REVPH, 100),
std::runtime_error);
}
TEST(SolenoidREVTest, Toggle) {
Solenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2};
solenoid.Set(true);
EXPECT_TRUE(solenoid.Get());
solenoid.Toggle();
EXPECT_FALSE(solenoid.Get());
solenoid.Toggle();
EXPECT_TRUE(solenoid.Get());
}
} // namespace frc

150
wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp Normal file
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@@ -0,0 +1,150 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/simulation/REVPHSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/DoubleSolenoid.h"
#include "frc/PneumaticsHub.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(REVPHSimTest, InitializedCallback) {
REVPHSim sim;
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
PneumaticsHub ph;
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(REVPHSimTest, SolenoidOutput) {
PneumaticsHub ph;
REVPHSim sim(ph);
sim.ResetData();
DoubleSolenoid doubleSolenoid{1, frc::PneumaticsModuleType::REVPH, 3, 4};
BooleanCallback callback3;
BooleanCallback callback4;
auto cb3 =
sim.RegisterSolenoidOutputCallback(3, callback3.GetCallback(), false);
auto cb4 =
sim.RegisterSolenoidOutputCallback(4, callback4.GetCallback(), false);
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kReverse);
EXPECT_FALSE(callback3.WasTriggered());
EXPECT_FALSE(callback3.GetLastValue());
EXPECT_TRUE(callback4.WasTriggered());
EXPECT_TRUE(callback4.GetLastValue());
EXPECT_FALSE(sim.GetSolenoidOutput(3));
EXPECT_TRUE(sim.GetSolenoidOutput(4));
EXPECT_EQ(0b00010000, ph.GetSolenoids());
EXPECT_EQ(0b00010000, sim.GetAllSolenoidOutputs());
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kForward);
EXPECT_TRUE(callback3.WasTriggered());
EXPECT_TRUE(callback3.GetLastValue());
EXPECT_TRUE(callback4.WasTriggered());
EXPECT_FALSE(callback4.GetLastValue());
EXPECT_TRUE(sim.GetSolenoidOutput(3));
EXPECT_FALSE(sim.GetSolenoidOutput(4));
EXPECT_EQ(0b00001000, ph.GetSolenoids());
EXPECT_EQ(0b00001000, sim.GetAllSolenoidOutputs());
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kOff);
EXPECT_TRUE(callback3.WasTriggered());
EXPECT_FALSE(callback3.GetLastValue());
EXPECT_FALSE(callback4.WasTriggered());
EXPECT_FALSE(callback4.GetLastValue());
EXPECT_FALSE(sim.GetSolenoidOutput(3));
EXPECT_FALSE(sim.GetSolenoidOutput(4));
EXPECT_EQ(0b00000000, ph.GetSolenoids());
EXPECT_EQ(0b00000000, sim.GetAllSolenoidOutputs());
}
TEST(REVPHSimTest, SetCompressorOn) {
PneumaticsHub ph;
REVPHSim sim(ph);
sim.ResetData();
BooleanCallback callback;
auto cb = sim.RegisterCompressorOnCallback(callback.GetCallback(), false);
EXPECT_FALSE(ph.GetCompressor());
EXPECT_FALSE(ph.GetCompressor());
sim.SetCompressorOn(true);
EXPECT_TRUE(sim.GetCompressorOn());
EXPECT_TRUE(ph.GetCompressor());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(REVPHSimTest, SetClosedLoopEnabled) {
PneumaticsHub ph;
REVPHSim sim(ph);
sim.ResetData();
BooleanCallback callback;
auto cb =
sim.RegisterClosedLoopEnabledCallback(callback.GetCallback(), false);
ph.SetClosedLoopControl(false);
EXPECT_FALSE(ph.GetClosedLoopControl());
ph.SetClosedLoopControl(true);
EXPECT_TRUE(sim.GetClosedLoopEnabled());
EXPECT_TRUE(ph.GetClosedLoopControl());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(REVPHSimTest, SetPressureSwitchEnabled) {
PneumaticsHub ph;
REVPHSim sim(ph);
sim.ResetData();
BooleanCallback callback;
auto cb = sim.RegisterPressureSwitchCallback(callback.GetCallback(), false);
EXPECT_FALSE(ph.GetPressureSwitch());
sim.SetPressureSwitch(true);
EXPECT_TRUE(sim.GetPressureSwitch());
EXPECT_TRUE(ph.GetPressureSwitch());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(REVPHSimTest, SetCompressorCurrent) {
PneumaticsHub ph;
REVPHSim sim(ph);
sim.ResetData();
DoubleCallback callback;
auto cb =
sim.RegisterCompressorCurrentCallback(callback.GetCallback(), false);
sim.SetCompressorCurrent(35.04);
EXPECT_EQ(35.04, sim.GetCompressorCurrent());
EXPECT_EQ(35.04, ph.GetCompressorCurrent());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(35.04, callback.GetLastValue());
}
} // namespace frc::sim