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

wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp

@@ -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(SolenoidCTRETest, ValidInitialization) {
+  Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
+  EXPECT_EQ(2, solenoid.GetChannel());
+
+  solenoid.Set(true);
+  EXPECT_TRUE(solenoid.Get());
+
+  solenoid.Set(false);
+  EXPECT_FALSE(solenoid.Get());
+}
+
+TEST(SolenoidCTRETest, DoubleInitialization) {
+  Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
+  EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
+               std::runtime_error);
+}
+
+TEST(SolenoidCTRETest, DoubleInitializationFromDoubleSolenoid) {
+  DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
+  EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
+               std::runtime_error);
+}
+
+TEST(SolenoidCTRETest, InvalidChannel) {
+  EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 100),
+               std::runtime_error);
+}
+
+TEST(SolenoidCTRETest, Toggle) {
+  Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
+  solenoid.Set(true);
+  EXPECT_TRUE(solenoid.Get());
+
+  solenoid.Toggle();
+  EXPECT_FALSE(solenoid.Get());
+
+  solenoid.Toggle();
+  EXPECT_TRUE(solenoid.Get());
+}
+}  // namespace frc