C++ testing

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

Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3

Added the C++ testing framework and one test

Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785

wpilibc/wpilibC++/lib/SensorBase.cpp

@@ -0,0 +1,204 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+
+#include "SensorBase.h"
+
+#include "NetworkCommunication/LoadOut.h"
+#include "WPIErrors.h"
+
+const uint32_t SensorBase::kDigitalChannels;
+const uint32_t SensorBase::kAnalogChannels;
+const uint32_t SensorBase::kAnalogModules;
+const uint32_t SensorBase::kDigitalModules;
+const uint32_t SensorBase::kSolenoidChannels;
+const uint32_t SensorBase::kSolenoidModules;
+const uint32_t SensorBase::kPwmChannels;
+const uint32_t SensorBase::kRelayChannels;
+const uint32_t SensorBase::kPDPChannels;
+const uint32_t SensorBase::kChassisSlots;
+SensorBase *SensorBase::m_singletonList = NULL;
+
+/**
+ * Creates an instance of the sensor base and gets an FPGA handle
+ */
+SensorBase::SensorBase()
+{
+}
+
+/**
+ * Frees the resources for a SensorBase.
+ */
+SensorBase::~SensorBase()
+{
+}
+
+/**
+ * Add sensor to the singleton list.
+ * Add this sensor to the list of singletons that need to be deleted when
+ * the robot program exits. Each of the sensors on this list are singletons,
+ * that is they aren't allocated directly with new, but instead are allocated
+ * by the static GetInstance method. As a result, they are never deleted when
+ * the program exits. Consequently these sensors may still be holding onto
+ * resources and need to have their destructors called at the end of the program.
+ */
+void SensorBase::AddToSingletonList()
+{
+	m_nextSingleton = m_singletonList;
+	m_singletonList = this;
+}
+
+/**
+ * Delete all the singleton classes on the list.
+ * All the classes that were allocated as singletons need to be deleted so
+ * their resources can be freed.
+ */
+void SensorBase::DeleteSingletons()
+{
+	for (SensorBase *next = m_singletonList; next != NULL;)
+	{
+		SensorBase *tmp = next;
+		next = next->m_nextSingleton;
+		delete tmp;
+	}
+	m_singletonList = NULL;
+}
+
+/**
+ * Check that the analog module number is valid.
+ * 
+ * @return Analog module is valid and present
+ */
+bool SensorBase::CheckAnalogModule(uint8_t moduleNumber)
+{
+	if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Analog, moduleNumber - 1))
+		return true;
+	return false;
+}
+
+/**
+ * Check that the digital module number is valid.
+ * 
+ * @return Digital module is valid and present
+ */
+bool SensorBase::CheckDigitalModule(uint8_t moduleNumber)
+{
+	if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Digital, moduleNumber - 1))
+		return true;
+	return false;
+}
+
+/**
+ * Check that the digital module number is valid.
+ * 
+ * @return Digital module is valid and present
+ */
+bool SensorBase::CheckPWMModule(uint8_t moduleNumber)
+{
+	return CheckDigitalModule(moduleNumber);
+}
+
+/**
+ * Check that the digital module number is valid.
+ * 
+ * @return Digital module is valid and present
+ */
+bool SensorBase::CheckRelayModule(uint8_t moduleNumber)
+{
+	return CheckDigitalModule(moduleNumber);
+}
+
+/**
+ * Check that the solenoid module number is valid.
+ * 
+ * @return Solenoid module is valid and present
+ */
+bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber)
+{
+	if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Solenoid, moduleNumber - 1))
+		return true;
+	return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ * Verify that the channel number is one of the legal channel numbers. Channel numbers are
+ * 1-based.
+ * 
+ * @return Digital channel is valid
+ */
+bool SensorBase::CheckDigitalChannel(uint32_t channel)
+{
+	if (channel > 0 && channel <= kDigitalChannels)
+		return true;
+	return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ * Verify that the channel number is one of the legal channel numbers. Channel numbers are
+ * 1-based.
+ * 
+ * @return Relay channel is valid
+ */
+bool SensorBase::CheckRelayChannel(uint32_t channel)
+{
+	if (channel > 0 && channel <= kRelayChannels)
+		return true;
+	return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ * Verify that the channel number is one of the legal channel numbers. Channel numbers are
+ * 1-based.
+ * 
+ * @return PWM channel is valid
+ */
+bool SensorBase::CheckPWMChannel(uint32_t channel)
+{
+	if (channel > 0 && channel <= kPwmChannels)
+		return true;
+	return false;
+}
+
+/**
+ * Check that the analog channel number is value.
+ * Verify that the analog channel number is one of the legal channel numbers. Channel numbers
+ * are 1-based.
+ * 
+ * @return Analog channel is valid
+ */
+bool SensorBase::CheckAnalogChannel(uint32_t channel)
+{
+	if (channel > 0 && channel <= kAnalogChannels)
+		return true;
+	return false;
+}
+
+/**
+ * Verify that the solenoid channel number is within limits.
+ * 
+ * @return Solenoid channel is valid
+ */
+bool SensorBase::CheckSolenoidChannel(uint32_t channel)
+{
+	if (channel > 0 && channel <= kSolenoidChannels)
+		return true;
+	return false;
+}
+
+/**
+ * Verify that the power distribution channel number is within limits.
+ * 
+ * @return Solenoid channel is valid
+ */
+bool SensorBase::CheckPDPChannel(uint32_t channel)
+{
+	if (channel > 0 && channel <= kPDPChannels)
+		return true;
+	return false;
+}
+