Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add halsim unit tests (#783)

Browse Source 
Also adds function that can register all the callbacks at once.
Since all of the callbacks issue a string identifier, it makes it
possible and easy to have one function callback, and differentiate the
path to take based on the string.  Hooking up all the callbacks at once
makes it easier for the simulator developer to know when something was
added to wpilib rather than looking at the commits.
This commit is contained in:
PJ Reiniger
2017-12-08 01:42:20 -05:00
committed by Peter Johnson
parent 4e3af0756d
commit 33a08d5b34
11 changed files with 614 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

83
hal/src/test/native/cpp/MockData/PCMDataTests.cpp Normal file
View File

@@ -0,0 +1,83 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/HAL.h"
#include "HAL/Solenoid.h"
#include "HAL/handles/HandlesInternal.h"
#include "MockData/PCMData.h"
#include "gtest/gtest.h"
namespace hal {
std::string gTestSolenoidCallbackName;
HAL_Value gTestSolenoidCallbackValue;
void TestSolenoidInitializationCallback(const char* name, void* param,
const struct HAL_Value* value) {
gTestSolenoidCallbackName = name;
gTestSolenoidCallbackValue = *value;
}
TEST(SolenoidSimTests, TestSolenoidInitialization) {
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);
ASSERT_TRUE(0 != callbackId);
int32_t status;
HAL_PortHandle portHandle;
HAL_DigitalHandle solenoidHandle;
// Use out of range index
status = 0;
portHandle = 8000;
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
EXPECT_EQ(HAL_HANDLE_ERROR, status);
EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
// Double initialize... should fail
status = 0;
portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
EXPECT_EQ(NO_AVAILABLE_RESOURCES, 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);
ASSERT_TRUE(0 != callbackId);
status = 0;
portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
gTestSolenoidCallbackName = "Unset";
solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
}
} // namespace hal