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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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5
wpilibj/src/test/java/edu/wpi/first/wpilibj/SensorUtilTest.java
View File

@@ -30,11 +30,6 @@ class SensorUtilTest {
assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkPWMChannel(100));
}
@Test
void testInvalidRelayModule() {
assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkRelayChannel(100));
}
@Test
void testgetDefaultCtrePcmModule() {
assertEquals(0, SensorUtil.getDefaultCTREPCMModule());

258
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RelaySimTest.java
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@@ -1,258 +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.
package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertNull;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import org.junit.jupiter.api.Test;
class RelaySimTest {
@Test
void testInitializationBidirectional() {
HAL.initialize(500, 0);
RelaySim sim = new RelaySim(0);
sim.resetData();
BooleanCallback forwardCallback = new BooleanCallback();
BooleanCallback reverseCallback = new BooleanCallback();
assertFalse(sim.getInitializedForward());
assertFalse(sim.getInitializedReverse());
try (CallbackStore fwdCb = sim.registerInitializedForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerInitializedReverseCallback(reverseCallback, false);
Relay relay = new Relay(0)) {
assertTrue(sim.getInitializedForward());
assertTrue(sim.getInitializedReverse());
assertTrue(forwardCallback.wasTriggered());
assertTrue(forwardCallback.getSetValue());
assertTrue(reverseCallback.wasTriggered());
assertTrue(reverseCallback.getSetValue());
}
}
@Test
void testInitializationForwardOnly() {
HAL.initialize(500, 0);
RelaySim sim = new RelaySim(0);
sim.resetData();
BooleanCallback forwardCallback = new BooleanCallback();
BooleanCallback reverseCallback = new BooleanCallback();
assertFalse(sim.getInitializedForward());
assertFalse(sim.getInitializedReverse());
try (CallbackStore fwdCb = sim.registerInitializedForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerInitializedReverseCallback(reverseCallback, false);
Relay relay = new Relay(0, Relay.Direction.kForward)) {
assertTrue(sim.getInitializedForward());
assertFalse(sim.getInitializedReverse());
assertTrue(forwardCallback.wasTriggered());
assertTrue(forwardCallback.getSetValue());
assertFalse(reverseCallback.wasTriggered());
assertNull(reverseCallback.getSetValue());
}
}
@Test
void testInitializationReverseOnly() {
HAL.initialize(500, 0);
RelaySim sim = new RelaySim(0);
sim.resetData();
BooleanCallback forwardCallback = new BooleanCallback();
BooleanCallback reverseCallback = new BooleanCallback();
assertFalse(sim.getInitializedForward());
assertFalse(sim.getInitializedReverse());
try (CallbackStore fwdCb = sim.registerInitializedForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerInitializedReverseCallback(reverseCallback, false);
Relay relay = new Relay(0, Relay.Direction.kReverse)) {
assertFalse(sim.getInitializedForward());
assertTrue(sim.getInitializedReverse());
assertFalse(forwardCallback.wasTriggered());
assertNull(forwardCallback.getSetValue());
assertTrue(reverseCallback.wasTriggered());
assertTrue(reverseCallback.getSetValue());
}
}
@Test
void testBidirectionalSetForward() {
HAL.initialize(500, 0);
RelaySim sim = new RelaySim(0);
BooleanCallback forwardCallback = new BooleanCallback();
BooleanCallback reverseCallback = new BooleanCallback();
try (Relay relay = new Relay(0);
CallbackStore fwdCb = sim.registerForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerReverseCallback(reverseCallback, false)) {
relay.set(Relay.Value.kForward);
assertEquals(Relay.Value.kForward, relay.get());
assertTrue(sim.getForward());
assertFalse(sim.getReverse());
assertTrue(forwardCallback.wasTriggered());
assertTrue(forwardCallback.getSetValue());
assertFalse(reverseCallback.wasTriggered());
assertNull(reverseCallback.getSetValue());
}
}
@Test
void testBidirectionalSetReverse() {
HAL.initialize(500, 0);
RelaySim sim = new RelaySim(0);
BooleanCallback forwardCallback = new BooleanCallback();
BooleanCallback reverseCallback = new BooleanCallback();
try (Relay relay = new Relay(0);
CallbackStore fwdCb = sim.registerForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerReverseCallback(reverseCallback, false)) {
relay.set(Relay.Value.kReverse);
assertEquals(Relay.Value.kReverse, relay.get());
assertFalse(sim.getForward());
assertTrue(sim.getReverse());
assertFalse(forwardCallback.wasTriggered());
assertNull(forwardCallback.getSetValue());
assertTrue(reverseCallback.wasTriggered());
assertTrue(reverseCallback.getSetValue());
}
}
@Test
void testBidirectionalSetOn() {
HAL.initialize(500, 0);
RelaySim sim = new RelaySim(0);
BooleanCallback forwardCallback = new BooleanCallback();
BooleanCallback reverseCallback = new BooleanCallback();
try (Relay relay = new Relay(0);
CallbackStore fwdCb = sim.registerForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerReverseCallback(reverseCallback, false)) {
relay.set(Relay.Value.kOn);
assertEquals(Relay.Value.kOn, relay.get());
assertTrue(sim.getForward());
assertTrue(sim.getReverse());
assertTrue(forwardCallback.wasTriggered());
assertTrue(forwardCallback.getSetValue());
assertTrue(reverseCallback.wasTriggered());
assertTrue(reverseCallback.getSetValue());
}
}
@Test
void testBidirectionalSetOff() {
HAL.initialize(500, 0);
RelaySim sim = new RelaySim(0);
BooleanCallback forwardCallback = new BooleanCallback();
BooleanCallback reverseCallback = new BooleanCallback();
try (Relay relay = new Relay(0);
CallbackStore fwdCb = sim.registerForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerReverseCallback(reverseCallback, false)) {
// Bootstrap into a non-off state to verify the callbacks
relay.set(Relay.Value.kOn);
forwardCallback.reset();
reverseCallback.reset();
relay.set(Relay.Value.kOff);
assertEquals(Relay.Value.kOff, relay.get());
assertFalse(sim.getForward());
assertFalse(sim.getReverse());
assertTrue(forwardCallback.wasTriggered());
assertFalse(forwardCallback.getSetValue());
assertTrue(reverseCallback.wasTriggered());
assertFalse(reverseCallback.getSetValue());
}
}
@Test
void testStopMotor() {
try (Relay relay = new Relay(0)) {
// Bootstrap into non-off state
relay.set(Relay.Value.kOn);
relay.stopMotor();
assertEquals(Relay.Value.kOff, relay.get());
}
}
@Test
void testForwardOnlyCannotGoReverse() {
try (Relay relay = new Relay(0, Relay.Direction.kForward)) {
relay.set(Relay.Value.kForward);
assertEquals(Relay.Value.kOn, relay.get());
relay.set(Relay.Value.kOff);
assertEquals(Relay.Value.kOff, relay.get());
assertThrows(Relay.InvalidValueException.class, () -> relay.set(Relay.Value.kReverse));
assertDoesNotThrow(() -> relay.set(Relay.Value.kOn));
}
}
@Test
void testReverseOnlyCannotGoForwards() {
try (Relay relay = new Relay(0, Relay.Direction.kReverse)) {
relay.set(Relay.Value.kReverse);
assertEquals(Relay.Value.kOn, relay.get());
relay.set(Relay.Value.kOff);
assertEquals(Relay.Value.kOff, relay.get());
assertThrows(Relay.InvalidValueException.class, () -> relay.set(Relay.Value.kForward));
assertDoesNotThrow(() -> relay.set(Relay.Value.kOn));
}
}
@Test
void testSwitchDirections() {
try (Relay relay = new Relay(0, Relay.Direction.kBoth)) {
// Start with both. Should be able to set all 4 values
assertDoesNotThrow(() -> relay.set(Relay.Value.kOff));
assertDoesNotThrow(() -> relay.set(Relay.Value.kForward));
assertDoesNotThrow(() -> relay.set(Relay.Value.kReverse));
assertDoesNotThrow(() -> relay.set(Relay.Value.kOn));
// Switch it to forward only
relay.setDirection(Relay.Direction.kForward);
assertDoesNotThrow(() -> relay.set(Relay.Value.kOff));
assertDoesNotThrow(() -> relay.set(Relay.Value.kForward));
assertThrows(Relay.InvalidValueException.class, () -> relay.set(Relay.Value.kReverse));
assertDoesNotThrow(() -> relay.set(Relay.Value.kOn));
// Switch it to Reverse only
relay.setDirection(Relay.Direction.kReverse);
assertDoesNotThrow(() -> relay.set(Relay.Value.kOff));
assertThrows(Relay.InvalidValueException.class, () -> relay.set(Relay.Value.kForward));
assertDoesNotThrow(() -> relay.set(Relay.Value.kReverse));
assertDoesNotThrow(() -> relay.set(Relay.Value.kOn));
}
}
}