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[hal, wpilib] Rewrite CAN APIs (#7798)

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This commit is contained in:
Thad House
2025-02-25 19:07:01 -08:00
committed by GitHub
parent b39744b562
commit baa20fa239
107 changed files with 1447 additions and 1379 deletions
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20
hal/src/test/native/cpp/can/CANTest.cpp
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@@ -2,6 +2,7 @@
// 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 <cstring>
#include <utility>
#include <gtest/gtest.h>
@@ -11,10 +12,10 @@
namespace hal {
struct CANTestStore {
CANTestStore(int32_t deviceId, int32_t* status) {
CANTestStore(int32_t busId, int32_t deviceId, int32_t* status) {
this->deviceId = deviceId;
handle = HAL_InitializeCAN(
HAL_CANManufacturer::HAL_CAN_Man_kTeamUse, deviceId,
busId, HAL_CANManufacturer::HAL_CAN_Man_kTeamUse, deviceId,
HAL_CANDeviceType::HAL_CAN_Dev_kMiscellaneous, status);
}
@@ -43,28 +44,31 @@ struct CANSendCallbackStore {
TEST(CANTest, CanIdPacking) {
int32_t status = 0;
int32_t deviceId = 12;
CANTestStore testStore(deviceId, &status);
CANTestStore testStore(0, deviceId, &status);
ASSERT_EQ(0, status);
std::pair<int32_t, bool> storePair;
storePair.second = false;
auto cbHandle = HALSIM_RegisterCanSendMessageCallback(
[](const char* name, void* param, uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {
[](const char* name, void* param, int32_t busId, uint32_t messageId,
const struct HAL_CANMessage* message, int32_t periodMs,
int32_t* status) {
std::pair<int32_t, bool>* paramI =
reinterpret_cast<std::pair<int32_t, bool>*>(param);
paramI->first = messageID;
paramI->first = messageId;
paramI->second = true;
},
&storePair);
CANSendCallbackStore cbStore(cbHandle);
uint8_t data[8];
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
message.dataSize = 8;
int32_t apiId = 42;
HAL_WriteCANPacket(testStore.handle, data, 8, 42, &status);
HAL_WriteCANPacket(testStore.handle, apiId, &message, &status);
ASSERT_EQ(0, status);

8
hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
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@@ -38,7 +38,7 @@ TEST(PCMDataTest, PCMInitialization) {
// Use out of range index
module = 8000;
gTestSolenoidCallbackName = "Unset";
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
@@ -49,7 +49,7 @@ TEST(PCMDataTest, PCMInitialization) {
status = 0;
module = MODULE_TO_TEST;
gTestSolenoidCallbackName = "Unset";
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
@@ -58,7 +58,7 @@ TEST(PCMDataTest, PCMInitialization) {
status = 0;
module = MODULE_TO_TEST;
gTestSolenoidCallbackName = "Unset";
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
@@ -76,7 +76,7 @@ TEST(PCMDataTest, PCMInitialization) {
status = 0;
module = MODULE_TO_TEST;
gTestSolenoidCallbackName = "Unset";
pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());

2
hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
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@@ -33,7 +33,7 @@ TEST(PdpSimTest, PdpInitialization) {
// Use out of range index
gTestPdpCallbackName = "Unset";
HAL_InitializePowerDistribution(
INDEX_TO_TEST, HAL_PowerDistributionType_kCTRE, nullptr, &status);
0, INDEX_TO_TEST, HAL_PowerDistributionType_kCTRE, nullptr, &status);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestPdpCallbackName.c_str());
}