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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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12
wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
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@@ -22,14 +22,14 @@ TEST(CTREPCMSimTest, InitializedCallback) {
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
PneumaticsControlModule pcm;
PneumaticsControlModule pcm{0};
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(CTREPCMSimTest, SolenoidOutput) {
PneumaticsControlModule pcm;
PneumaticsControlModule pcm{0};
CTREPCMSim sim(pcm);
sim.ResetData();
@@ -80,7 +80,7 @@ TEST(CTREPCMSimTest, SolenoidOutput) {
}
TEST(CTREPCMSimTest, SetCompressorOn) {
PneumaticsControlModule pcm;
PneumaticsControlModule pcm{0};
CTREPCMSim sim(pcm);
sim.ResetData();
@@ -97,7 +97,7 @@ TEST(CTREPCMSimTest, SetCompressorOn) {
}
TEST(CTREPCMSimTest, SetEnableDigital) {
PneumaticsControlModule pcm;
PneumaticsControlModule pcm{0};
CTREPCMSim sim(pcm);
sim.ResetData();
@@ -116,7 +116,7 @@ TEST(CTREPCMSimTest, SetEnableDigital) {
}
TEST(CTREPCMSimTest, SetPressureSwitchEnabled) {
PneumaticsControlModule pcm;
PneumaticsControlModule pcm{0};
CTREPCMSim sim(pcm);
sim.ResetData();
@@ -133,7 +133,7 @@ TEST(CTREPCMSimTest, SetPressureSwitchEnabled) {
}
TEST(CTREPCMSimTest, SetCompressorCurrent) {
PneumaticsControlModule pcm;
PneumaticsControlModule pcm{0};
CTREPCMSim sim(pcm);
sim.ResetData();

10
wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
View File

@@ -22,7 +22,7 @@ TEST(PowerDistributionSimTest, Initialize) {
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
PowerDistribution pdp(2, frc::PowerDistribution::ModuleType::kCTRE);
PowerDistribution pdp(0, 2, frc::PowerDistribution::ModuleType::kCTRE);
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
@@ -35,7 +35,7 @@ TEST(PowerDistributionSimTest, Initialize) {
TEST(PowerDistributionSimTest, SetTemperature) {
HAL_Initialize(500, 0);
PowerDistribution pdp{2, frc::PowerDistribution::ModuleType::kCTRE};
PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kCTRE};
PowerDistributionSim sim(pdp);
DoubleCallback callback;
@@ -50,7 +50,7 @@ TEST(PowerDistributionSimTest, SetTemperature) {
TEST(PowerDistributionSimTest, SetVoltage) {
HAL_Initialize(500, 0);
PowerDistribution pdp{2, frc::PowerDistribution::ModuleType::kCTRE};
PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kCTRE};
PowerDistributionSim sim(pdp);
DoubleCallback callback;
@@ -65,7 +65,7 @@ TEST(PowerDistributionSimTest, SetVoltage) {
TEST(PowerDistributionSimTest, SetCurrent) {
HAL_Initialize(500, 0);
PowerDistribution pdp{2, frc::PowerDistribution::ModuleType::kCTRE};
PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kCTRE};
PowerDistributionSim sim(pdp);
for (int channel = 0; channel < HAL_GetNumCTREPDPChannels(); ++channel) {
@@ -84,7 +84,7 @@ TEST(PowerDistributionSimTest, SetCurrent) {
TEST(PowerDistributionSimTest, GetAllCurrents) {
HAL_Initialize(500, 0);
PowerDistribution pdp{2, frc::PowerDistribution::ModuleType::kRev};
PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kRev};
PowerDistributionSim sim(pdp);
// setup

18
wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
View File

@@ -22,18 +22,18 @@ TEST(REVPHSimTest, InitializedCallback) {
BooleanCallback callback;
auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
PneumaticHub ph;
PneumaticHub ph{0};
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(REVPHSimTest, SolenoidOutput) {
PneumaticHub ph;
PneumaticHub ph{0};
REVPHSim sim(ph);
sim.ResetData();
DoubleSolenoid doubleSolenoid{1, frc::PneumaticsModuleType::REVPH, 3, 4};
DoubleSolenoid doubleSolenoid{0, 1, frc::PneumaticsModuleType::REVPH, 3, 4};
BooleanCallback callback3;
BooleanCallback callback4;
@@ -80,7 +80,7 @@ TEST(REVPHSimTest, SolenoidOutput) {
}
TEST(REVPHSimTest, SetCompressorOn) {
PneumaticHub ph;
PneumaticHub ph{0};
REVPHSim sim(ph);
sim.ResetData();
@@ -97,7 +97,7 @@ TEST(REVPHSimTest, SetCompressorOn) {
}
TEST(REVPHSimTest, SetEnableDigital) {
PneumaticHub ph;
PneumaticHub ph{0};
REVPHSim sim(ph);
sim.ResetData();
@@ -118,7 +118,7 @@ TEST(REVPHSimTest, SetEnableDigital) {
}
TEST(REVPHSimTest, SetEnableAnalog) {
PneumaticHub ph;
PneumaticHub ph{0};
REVPHSim sim(ph);
sim.ResetData();
@@ -139,7 +139,7 @@ TEST(REVPHSimTest, SetEnableAnalog) {
}
TEST(REVPHSimTest, SetEnableHybrid) {
PneumaticHub ph;
PneumaticHub ph{0};
REVPHSim sim(ph);
sim.ResetData();
@@ -160,7 +160,7 @@ TEST(REVPHSimTest, SetEnableHybrid) {
}
TEST(REVPHSimTest, SetPressureSwitchEnabled) {
PneumaticHub ph;
PneumaticHub ph{0};
REVPHSim sim(ph);
sim.ResetData();
@@ -177,7 +177,7 @@ TEST(REVPHSimTest, SetPressureSwitchEnabled) {
}
TEST(REVPHSimTest, SetCompressorCurrent) {
PneumaticHub ph;
PneumaticHub ph{0};
REVPHSim sim(ph);
sim.ResetData();