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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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13
crossConnIntegrationTests/src/main/native/include/CrossConnects.h
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@@ -42,4 +42,17 @@ constexpr static std::array<std::pair<int, int>, 2> PWMCrossConnects{
std::pair{16, 25},
};
// FWD only, relay on left
constexpr static std::array<std::pair<int, int>, 2> RelayAnalogCrossConnects{
std::pair{2, 0}, std::pair{3, 1}};
struct RelayCross {
int Relay;
int FwdDio;
int RevDio;
};
constexpr static std::array<RelayCross, 1> RelayCrossConnects{
RelayCross{0, 23, 22}};
} // namespace hlt

19
crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h
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@@ -90,6 +90,25 @@ struct PWMHandle {
HAL_DigitalHandle handle = 0;
};
struct RelayHandle {
public:
RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status) {
handle = HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status);
}
RelayHandle(const RelayHandle&) = delete;
RelayHandle operator=(const RelayHandle&) = delete;
RelayHandle(RelayHandle&&) = default;
RelayHandle& operator=(RelayHandle&&) = default;
~RelayHandle() { HAL_FreeRelayPort(handle); }
operator HAL_RelayHandle() const { return handle; }
private:
HAL_RelayHandle handle = 0;
};
#define ASSERT_LAST_ERROR_STATUS(status, x) \
do { \
ASSERT_EQ(status, HAL_USE_LAST_ERROR); \