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[HLT] Add relay digital cross connect tests (#3450)

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This commit is contained in:
Thad House
2021-06-19 01:21:56 -07:00
committed by GitHub
parent e7bedde835
commit 73fcbbd748
3 changed files with 136 additions and 0 deletions
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104
crossConnIntegrationTests/src/main/native/cpp/RelayDigitalTests.cpp Normal file
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// 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 <hal/Relay.h>
#include <wpi/SmallVector.h>
#include "CrossConnects.h"
#include "LifetimeWrappers.h"
#include "gtest/gtest.h"
using namespace hlt;
class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {};
TEST_P(RelayDigitalTest, TestRelayCross) {
auto param = GetParam();
int32_t status = 0;
RelayHandle fwd{param.Relay, true, &status};
ASSERT_EQ(0, status);
RelayHandle rev{param.Relay, false, &status};
ASSERT_EQ(0, status);
DIOHandle fwdInput{param.FwdDio, true, &status};
ASSERT_EQ(0, status);
DIOHandle revInput{param.RevDio, true, &status};
ASSERT_EQ(0, status);
HAL_SetRelay(fwd, false, &status);
ASSERT_EQ(0, status);
HAL_SetRelay(rev, false, &status);
ASSERT_EQ(0, status);
usleep(1000);
ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
ASSERT_EQ(0, status);
ASSERT_FALSE(HAL_GetDIO(revInput, &status));
ASSERT_EQ(0, status);
HAL_SetRelay(fwd, false, &status);
ASSERT_EQ(0, status);
HAL_SetRelay(rev, true, &status);
ASSERT_EQ(0, status);
usleep(1000);
ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
ASSERT_EQ(0, status);
ASSERT_TRUE(HAL_GetDIO(revInput, &status));
ASSERT_EQ(0, status);
HAL_SetRelay(fwd, true, &status);
ASSERT_EQ(0, status);
HAL_SetRelay(rev, false, &status);
ASSERT_EQ(0, status);
usleep(1000);
ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
ASSERT_EQ(0, status);
ASSERT_FALSE(HAL_GetDIO(revInput, &status));
ASSERT_EQ(0, status);
HAL_SetRelay(fwd, true, &status);
ASSERT_EQ(0, status);
HAL_SetRelay(rev, true, &status);
ASSERT_EQ(0, status);
usleep(1000);
ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
ASSERT_EQ(0, status);
ASSERT_TRUE(HAL_GetDIO(revInput, &status));
ASSERT_EQ(0, status);
}
TEST(RelayDigitalTest, TestAllocateAll) {
wpi::SmallVector<RelayHandle, 32> relayHandles;
for (int i = 0; i < HAL_GetNumRelayChannels(); i++) {
int32_t status = 0;
relayHandles.emplace_back(i / 2, i % 2, &status);
ASSERT_EQ(status, 0);
}
}
TEST(RelayDigitalTest, TestMultipleAllocateFails) {
int32_t status = 0;
RelayHandle handle(0, true, &status);
ASSERT_NE(handle, HAL_kInvalidHandle);
ASSERT_EQ(status, 0);
RelayHandle handle2(0, true, &status);
ASSERT_EQ(handle2, HAL_kInvalidHandle);
ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
}
TEST(RelayDigitalTest, TestOverAllocateFails) {
int32_t status = 0;
RelayHandle handle(HAL_GetNumRelayChannels(), true, &status);
ASSERT_EQ(handle, HAL_kInvalidHandle);
ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
}
TEST(RelayDigitalTest, TestUnderAllocateFails) {
int32_t status = 0;
RelayHandle handle(-1, true, &status);
ASSERT_EQ(handle, HAL_kInvalidHandle);
ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
}
INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTest, RelayDigitalTest,
::testing::ValuesIn(RelayCrossConnects));