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C++ testing

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Made a toplevel directory for C++ and C++ tests

Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3

Added the C++ testing framework and one test

Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
This commit is contained in:
thomasclark
2014-06-02 10:12:08 -04:00
parent 9a145db3d5
commit bb50f4b134
245 changed files with 32204 additions and 13 deletions
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68
wpilibc/wpilibC++/include/DigitalModule.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "HAL/HAL.hpp"
#include "Module.h"
class I2C;
const uint32_t kExpectedLoopTiming = 260;
class DigitalModule : public Module
{
friend class I2C;
friend class Module;
protected:
explicit DigitalModule(uint8_t moduleNumber);
virtual ~DigitalModule();
public:
void SetPWM(uint32_t channel, unsigned short value);
unsigned short GetPWM(uint32_t channel);
void SetPWMPeriodScale(uint32_t channel, uint32_t squelchMask);
void SetRelayForward(uint32_t channel, bool on);
void SetRelayReverse(uint32_t channel, bool on);
bool GetRelayForward(uint32_t channel);
uint8_t GetRelayForward();
bool GetRelayReverse(uint32_t channel);
uint8_t GetRelayReverse();
bool AllocateDIO(uint32_t channel, bool input);
void FreeDIO(uint32_t channel);
void SetDIO(uint32_t channel, short value);
bool GetDIO(uint32_t channel);
uint16_t GetDIO();
bool GetDIODirection(uint32_t channel);
uint16_t GetDIODirection();
void Pulse(uint32_t channel, float pulseLength);
bool IsPulsing(uint32_t channel);
bool IsPulsing();
uint32_t AllocateDO_PWM();
void FreeDO_PWM(uint32_t pwmGenerator);
void SetDO_PWMRate(float rate);
void SetDO_PWMDutyCycle(uint32_t pwmGenerator, float dutyCycle);
void SetDO_PWMOutputChannel(uint32_t pwmGenerator, uint32_t channel);
uint16_t GetLoopTiming();
I2C* GetI2C(uint32_t address);
static DigitalModule* GetInstance(uint8_t moduleNumber);
static uint8_t RemapDigitalChannel(uint32_t channel)
{
return 15 - channel;
} // TODO: Need channel validation
static uint8_t UnmapDigitalChannel(uint32_t channel)
{
return 15 - channel;
} // TODO: Need channel validation
private:
uint8_t m_module;
void* m_digital_ports[kDigitalChannels];
void* m_relay_ports[kRelayChannels];
void* m_pwm_ports[kPwmChannels];
};