Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Remove InterruptableSensorBase and replace with interrupt classes (#2410)

Browse Source
This commit is contained in:
Thad House
2021-06-05 11:25:21 -07:00
committed by GitHub
parent 15c521a7fe
commit 5c817082a0
28 changed files with 982 additions and 1497 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
wpilibcIntegrationTests/src/main/native/cpp/AnalogLoopTest.cpp
View File

@@ -8,6 +8,7 @@
#include "frc/AnalogInput.h"
#include "frc/AnalogOutput.h"
#include "frc/AnalogTrigger.h"
#include "frc/AsynchronousInterrupt.h"
#include "frc/Counter.h"
#include "frc/Timer.h"
#include "gtest/gtest.h"
@@ -91,10 +92,6 @@ TEST(AnalogLoopTest, AnalogTriggerCounterWorks) {
<< "Analog trigger counter did not count 50 ticks";
}
static void InterruptHandler(uint32_t interruptAssertedMask, void* param) {
*reinterpret_cast<int32_t*>(param) = 12345;
}
TEST(AnalogLoopTest, AsynchronusInterruptWorks) {
frc::AnalogInput input{TestBench::kFakeAnalogOutputChannel};
frc::AnalogOutput output{TestBench::kAnalogOutputChannel};
@@ -106,16 +103,19 @@ TEST(AnalogLoopTest, AsynchronusInterruptWorks) {
// Given an interrupt handler that sets an int32_t to 12345
std::shared_ptr<frc::AnalogTriggerOutput> triggerOutput =
trigger.CreateOutput(frc::AnalogTriggerType::kState);
triggerOutput->RequestInterrupts(InterruptHandler, &param);
triggerOutput->EnableInterrupts();
frc::AsynchronousInterrupt interrupt{triggerOutput,
[&](auto a, auto b) { param = 12345; }};
interrupt.Enable();
// If the analog output moves from below to above the window
output.SetVoltage(0.0);
frc::Wait(kDelayTime);
output.SetVoltage(5.0);
triggerOutput->CancelInterrupts();
// Then the int32_t should be 12345
frc::Wait(kDelayTime);
interrupt.Disable();
EXPECT_EQ(12345, param) << "The interrupt did not run.";
}