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[hal] Translate unit tests to catch2 (#9003)

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This commit is contained in:
Peter Johnson
2026-06-21 19:26:10 -07:00
committed by GitHub
parent 912938b434
commit c3fe63b2f7
15 changed files with 170 additions and 149 deletions
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34
hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
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@@ -6,7 +6,7 @@
#include <string>
#include <gtest/gtest.h>
#include <catch2/catch_test_macros.hpp>
#include "wpi/hal/Errors.h"
#include "wpi/hal/HAL.h"
@@ -24,13 +24,13 @@ void TestPwmInitializationCallback(const char* name, void* param,
gTestPwmCallbackValue = *value;
}
TEST(PWMSimTest, PwmInitialization) {
TEST_CASE("PWMSimTest PwmInitialization", "[hal][mockdata]") {
const int INDEX_TO_TEST = 7;
int callbackParam = 0;
int callbackId = HALSIM_RegisterPWMInitializedCallback(
INDEX_TO_TEST, &TestPwmInitializationCallback, &callbackParam, false);
ASSERT_TRUE(0 != callbackId);
REQUIRE(0 != callbackId);
int32_t status = 0;
int32_t channel = 0;
@@ -40,31 +40,31 @@ TEST(PWMSimTest, PwmInitialization) {
channel = 8000;
gTestPwmCallbackName = "Unset";
pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
EXPECT_EQ(HAL_INVALID_HANDLE, pwmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
CHECK(HAL_INVALID_HANDLE == pwmHandle);
CHECK(HAL_USE_LAST_ERROR == status);
HAL_GetLastError(&status);
EXPECT_EQ(HAL_RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestPwmCallbackName.c_str());
CHECK(HAL_RESOURCE_OUT_OF_RANGE == status);
CHECK("Unset" == gTestPwmCallbackName);
// Successful setup
status = 0;
channel = INDEX_TO_TEST;
gTestPwmCallbackName = "Unset";
pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
EXPECT_TRUE(HAL_INVALID_HANDLE != pwmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestPwmCallbackName.c_str());
CHECK(HAL_INVALID_HANDLE != pwmHandle);
CHECK(0 == status);
CHECK("Initialized" == gTestPwmCallbackName);
// Double initialize... should fail
status = 0;
channel = INDEX_TO_TEST;
gTestPwmCallbackName = "Unset";
pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
EXPECT_EQ(HAL_INVALID_HANDLE, pwmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
CHECK(HAL_INVALID_HANDLE == pwmHandle);
CHECK(HAL_USE_LAST_ERROR == status);
HAL_GetLastError(&status);
EXPECT_EQ(HAL_RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestPwmCallbackName.c_str());
CHECK(HAL_RESOURCE_IS_ALLOCATED == status);
CHECK("Unset" == gTestPwmCallbackName);
// Reset, should allow you to re-register
wpi::hal::HandleBase::ResetGlobalHandles();
@@ -76,9 +76,9 @@ TEST(PWMSimTest, PwmInitialization) {
channel = INDEX_TO_TEST;
gTestPwmCallbackName = "Unset";
pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
EXPECT_TRUE(HAL_INVALID_HANDLE != pwmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestPwmCallbackName.c_str());
CHECK(HAL_INVALID_HANDLE != pwmHandle);
CHECK(0 == status);
CHECK("Initialized" == gTestPwmCallbackName);
HALSIM_CancelPWMInitializedCallback(INDEX_TO_TEST, callbackId);
}
} // namespace wpi::hal