Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

22
wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestCTRE.java
View File

@@ -13,7 +13,7 @@ import org.junit.jupiter.api.Test;
class DoubleSolenoidTestCTRE {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.CTREPCM, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.CTREPCM, 2, 3)) {
solenoid.set(DoubleSolenoid.Value.kReverse);
assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
@@ -29,10 +29,10 @@ class DoubleSolenoidTestCTRE {
void testThrowForwardPortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(5, PneumaticsModuleType.CTREPCM, 2)) {
Solenoid solenoid = new Solenoid(0, 5, PneumaticsModuleType.CTREPCM, 2)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(5, PneumaticsModuleType.CTREPCM, 2, 3));
() -> new DoubleSolenoid(0, 5, PneumaticsModuleType.CTREPCM, 2, 3));
}
}
@@ -40,10 +40,10 @@ class DoubleSolenoidTestCTRE {
void testThrowReversePortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(6, PneumaticsModuleType.CTREPCM, 3)) {
Solenoid solenoid = new Solenoid(0, 6, PneumaticsModuleType.CTREPCM, 3)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(6, PneumaticsModuleType.CTREPCM, 2, 3));
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.CTREPCM, 2, 3));
}
}
@@ -51,17 +51,17 @@ class DoubleSolenoidTestCTRE {
void testThrowBothPortsAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid0 = new Solenoid(6, PneumaticsModuleType.CTREPCM, 2);
Solenoid solenoid1 = new Solenoid(6, PneumaticsModuleType.CTREPCM, 3)) {
Solenoid solenoid0 = new Solenoid(0, 6, PneumaticsModuleType.CTREPCM, 2);
Solenoid solenoid1 = new Solenoid(0, 6, PneumaticsModuleType.CTREPCM, 3)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(6, PneumaticsModuleType.CTREPCM, 2, 3));
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.CTREPCM, 2, 3));
}
}
@Test
void testToggle() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(4, PneumaticsModuleType.CTREPCM, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.CTREPCM, 2, 3)) {
// Bootstrap it into reverse
solenoid.set(DoubleSolenoid.Value.kReverse);
@@ -82,13 +82,13 @@ class DoubleSolenoidTestCTRE {
void testInvalidForwardPort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(0, PneumaticsModuleType.CTREPCM, 100, 1));
() -> new DoubleSolenoid(0, 0, PneumaticsModuleType.CTREPCM, 100, 1));
}
@Test
void testInvalidReversePort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(0, PneumaticsModuleType.CTREPCM, 0, 100));
() -> new DoubleSolenoid(0, 0, PneumaticsModuleType.CTREPCM, 0, 100));
}
}

25
wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestREV.java
View File

@@ -13,7 +13,7 @@ import org.junit.jupiter.api.Test;
class DoubleSolenoidTestREV {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.REVPH, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.REVPH, 2, 3)) {
solenoid.set(DoubleSolenoid.Value.kReverse);
assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
@@ -29,9 +29,10 @@ class DoubleSolenoidTestREV {
void testThrowForwardPortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(5, PneumaticsModuleType.REVPH, 2)) {
Solenoid solenoid = new Solenoid(0, 5, PneumaticsModuleType.REVPH, 2)) {
assertThrows(
AllocationException.class, () -> new DoubleSolenoid(5, PneumaticsModuleType.REVPH, 2, 3));
AllocationException.class,
() -> new DoubleSolenoid(0, 5, PneumaticsModuleType.REVPH, 2, 3));
}
}
@@ -39,9 +40,10 @@ class DoubleSolenoidTestREV {
void testThrowReversePortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(6, PneumaticsModuleType.REVPH, 3)) {
Solenoid solenoid = new Solenoid(0, 6, PneumaticsModuleType.REVPH, 3)) {
assertThrows(
AllocationException.class, () -> new DoubleSolenoid(6, PneumaticsModuleType.REVPH, 2, 3));
AllocationException.class,
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.REVPH, 2, 3));
}
}
@@ -49,16 +51,17 @@ class DoubleSolenoidTestREV {
void testThrowBothPortsAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid0 = new Solenoid(6, PneumaticsModuleType.REVPH, 2);
Solenoid solenoid1 = new Solenoid(6, PneumaticsModuleType.REVPH, 3)) {
Solenoid solenoid0 = new Solenoid(0, 6, PneumaticsModuleType.REVPH, 2);
Solenoid solenoid1 = new Solenoid(0, 6, PneumaticsModuleType.REVPH, 3)) {
assertThrows(
AllocationException.class, () -> new DoubleSolenoid(6, PneumaticsModuleType.REVPH, 2, 3));
AllocationException.class,
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.REVPH, 2, 3));
}
}
@Test
void testToggle() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(4, PneumaticsModuleType.REVPH, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.REVPH, 2, 3)) {
// Bootstrap it into reverse
solenoid.set(DoubleSolenoid.Value.kReverse);
@@ -79,13 +82,13 @@ class DoubleSolenoidTestREV {
void testInvalidForwardPort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(1, PneumaticsModuleType.REVPH, 100, 1));
() -> new DoubleSolenoid(0, 1, PneumaticsModuleType.REVPH, 100, 1));
}
@Test
void testInvalidReversePort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(1, PneumaticsModuleType.REVPH, 0, 100));
() -> new DoubleSolenoid(0, 1, PneumaticsModuleType.REVPH, 0, 100));
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/PowerDistributionTest.java
View File

@@ -15,7 +15,7 @@ class PowerDistributionTest {
@Test
void testGetAllCurrents() {
HAL.initialize(500, 0);
PowerDistribution pdp = new PowerDistribution(1, ModuleType.kRev);
PowerDistribution pdp = new PowerDistribution(0, 1, ModuleType.kRev);
PDPSim sim = new PDPSim(pdp);
for (int i = 0; i < pdp.getNumChannels(); i++) {

15
wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestCTRE.java
View File

@@ -15,7 +15,7 @@ import org.junit.jupiter.api.Test;
class SolenoidTestCTRE {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2)) {
assertEquals(2, solenoid.getChannel());
solenoid.set(true);
@@ -28,29 +28,30 @@ class SolenoidTestCTRE {
@Test
void testDoubleInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2)) {
assertThrows(
AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.CTREPCM, 2));
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2));
}
}
@Test
void testDoubleInitializationFromDoubleSolenoid() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.CTREPCM, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.CTREPCM, 2, 3)) {
assertThrows(
AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.CTREPCM, 2));
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2));
}
}
@Test
void testInvalidChannel() {
assertThrows(
IllegalArgumentException.class, () -> new Solenoid(3, PneumaticsModuleType.CTREPCM, 100));
IllegalArgumentException.class,
() -> new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 100));
}
@Test
void testToggle() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2)) {
solenoid.set(true);
assertTrue(solenoid.get());

16
wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestREV.java
View File

@@ -15,7 +15,7 @@ import org.junit.jupiter.api.Test;
class SolenoidTestREV {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2)) {
assertEquals(2, solenoid.getChannel());
solenoid.set(true);
@@ -28,27 +28,29 @@ class SolenoidTestREV {
@Test
void testDoubleInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {
assertThrows(AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.REVPH, 2));
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2)) {
assertThrows(
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2));
}
}
@Test
void testDoubleInitializationFromDoubleSolenoid() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.REVPH, 2, 3)) {
assertThrows(AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.REVPH, 2));
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.REVPH, 2, 3)) {
assertThrows(
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2));
}
}
@Test
void testInvalidChannel() {
assertThrows(
IllegalArgumentException.class, () -> new Solenoid(3, PneumaticsModuleType.REVPH, 100));
IllegalArgumentException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REVPH, 100));
}
@Test
void testToggle() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2)) {
solenoid.set(true);
assertTrue(solenoid.get());

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
View File

@@ -16,6 +16,6 @@ class CANStatusTest {
void canStatusGetDoesntThrow() {
HAL.initialize(500, 0);
CANStatus status = new CANStatus();
assertDoesNotThrow(() -> CANJNI.getCANStatus(status));
assertDoesNotThrow(() -> CANJNI.getCANStatus(0, status));
}
}