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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
wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
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@@ -12,7 +12,7 @@
namespace frc {
TEST(DoubleSolenoidCTRETest, ValidInitialization) {
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
DoubleSolenoid solenoid{0, 3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
@@ -25,29 +25,29 @@ TEST(DoubleSolenoidCTRETest, ValidInitialization) {
TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
Solenoid solenoid{0, 5, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(0, 5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowReversePortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
Solenoid solenoid{0, 6, frc::PneumaticsModuleType::CTREPCM, 3};
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{6};
PneumaticsControlModule pcm{0, 6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
Solenoid solenoid1(6, frc::PneumaticsModuleType::CTREPCM, 3);
Solenoid solenoid0(0, 6, frc::PneumaticsModuleType::CTREPCM, 2);
Solenoid solenoid1(0, 6, frc::PneumaticsModuleType::CTREPCM, 3);
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, Toggle) {
DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
DoubleSolenoid solenoid{0, 4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
@@ -64,12 +64,12 @@ TEST(DoubleSolenoidCTRETest, Toggle) {
}
TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
EXPECT_THROW(DoubleSolenoid(0, 0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, InvalidReversePort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
EXPECT_THROW(DoubleSolenoid(0, 0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
std::runtime_error);
}
} // namespace frc