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[hal, wpilib] Remove relay (#7695)

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This commit is contained in:
Thad House
2025-01-16 23:20:07 -08:00
committed by GitHub
parent d9f8fded09
commit 5017393b3a
54 changed files with 1 additions and 3115 deletions
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83
hal/src/test/native/cpp/mockdata/RelayDataTest.cpp
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@@ -1,83 +0,0 @@
// 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 <string>
#include <gtest/gtest.h>
#include "hal/HAL.h"
#include "hal/Relay.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/simulation/RelayData.h"
namespace hal {
std::string gTestRelayCallbackName;
HAL_Value gTestRelayCallbackValue;
void TestRelayInitializationCallback(const char* name, void* param,
const struct HAL_Value* value) {
gTestRelayCallbackName = name;
gTestRelayCallbackValue = *value;
}
TEST(RelaySimTest, RelayInitialization) {
const int INDEX_TO_TEST = 3;
int callbackParam = 0;
int callbackId = HALSIM_RegisterRelayInitializedForwardCallback(
INDEX_TO_TEST, &TestRelayInitializationCallback, &callbackParam, false);
ASSERT_TRUE(0 != callbackId);
int32_t status = 0;
HAL_PortHandle portHandle;
HAL_DigitalHandle pdpHandle;
// Use out of range index
portHandle = 8000;
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pdpHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestRelayCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pdpHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("InitializedForward", gTestRelayCallbackName.c_str());
// Double initialize... should fail
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pdpHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestRelayCallbackName.c_str());
// Reset, should allow you to re-register
hal::HandleBase::ResetGlobalHandles();
HALSIM_ResetRelayData(INDEX_TO_TEST);
callbackId = HALSIM_RegisterRelayInitializedForwardCallback(
INDEX_TO_TEST, &TestRelayInitializationCallback, &callbackParam, false);
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pdpHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("InitializedForward", gTestRelayCallbackName.c_str());
HALSIM_CancelRelayInitializedForwardCallback(INDEX_TO_TEST, callbackId);
}
} // namespace hal