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[hal, wpilib] Remove interrupt (#7724)

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This commit is contained in:
Thad House
2025-01-23 21:45:18 -08:00
committed by GitHub
parent e2b6beb28a
commit 5898cdd5c3
18 changed files with 0 additions and 1970 deletions
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103
wpilibc/src/test/native/cpp/InterruptTest.cpp
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@@ -1,103 +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 <atomic>
#include <gtest/gtest.h>
#include <hal/HAL.h>
#include "frc/AsynchronousInterrupt.h"
#include "frc/DigitalInput.h"
#include "frc/Timer.h"
#include "frc/simulation/DIOSim.h"
namespace frc {
using namespace frc::sim;
TEST(InterruptTest, AsynchronousInterrupt) {
HAL_Initialize(500, 0);
std::atomic_int counter{0};
std::atomic_bool hasFired{false};
DigitalInput di{0};
AsynchronousInterrupt interrupt{di, [&](bool rising, bool falling) {
counter++;
hasFired = true;
}};
interrupt.Enable();
frc::Wait(0.5_s);
DIOSim digitalSim{di};
digitalSim.SetValue(false);
frc::Wait(20_ms);
digitalSim.SetValue(true);
frc::Wait(20_ms);
int count = 0;
while (!hasFired) {
frc::Wait(5_ms);
count++;
ASSERT_TRUE(count < 1000);
}
ASSERT_EQ(1, counter.load());
}
TEST(InterruptTest, RisingEdge) {
HAL_Initialize(500, 0);
std::atomic_bool hasFiredFallingEdge{false};
std::atomic_bool hasFiredRisingEdge{false};
DigitalInput di{0};
AsynchronousInterrupt interrupt{di, [&](bool rising, bool falling) {
hasFiredFallingEdge = falling;
hasFiredRisingEdge = rising;
}};
interrupt.SetInterruptEdges(true, true);
DIOSim digitalSim{di};
digitalSim.SetValue(false);
interrupt.Enable();
frc::Wait(0.5_s);
digitalSim.SetValue(true);
frc::Wait(20_ms);
int count = 0;
while (!hasFiredRisingEdge) {
frc::Wait(5_ms);
count++;
ASSERT_TRUE(count < 1000);
}
EXPECT_FALSE(hasFiredFallingEdge);
EXPECT_TRUE(hasFiredRisingEdge);
}
TEST(InterruptTest, FallingEdge) {
HAL_Initialize(500, 0);
std::atomic_bool hasFiredFallingEdge{false};
std::atomic_bool hasFiredRisingEdge{false};
DigitalInput di{0};
AsynchronousInterrupt interrupt{di, [&](bool rising, bool falling) {
hasFiredFallingEdge = falling;
hasFiredRisingEdge = rising;
}};
interrupt.SetInterruptEdges(true, true);
DIOSim digitalSim{di};
digitalSim.SetValue(true);
interrupt.Enable();
frc::Wait(0.5_s);
digitalSim.SetValue(false);
frc::Wait(20_ms);
int count = 0;
while (!hasFiredFallingEdge) {
frc::Wait(5_ms);
count++;
ASSERT_TRUE(count < 1000);
}
EXPECT_TRUE(hasFiredFallingEdge);
EXPECT_FALSE(hasFiredRisingEdge);
}
} // namespace frc