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[hal] Fix interrupt edges being flipped in sim (#6720)

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This commit is contained in:
Gold856
2024-07-16 20:26:35 -04:00
committed by GitHub
parent 59256f0e00
commit e5b7cf4c76
3 changed files with 160 additions and 20 deletions
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62
wpilibc/src/test/native/cpp/InterruptTest.cpp
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@@ -30,7 +30,7 @@ TEST(InterruptTest, AsynchronousInterrupt) {
frc::Wait(0.5_s);
DIOSim digitalSim{di};
digitalSim.SetValue(false);
frc::Wait(20_ms);
frc::Wait(10_ms);
digitalSim.SetValue(true);
frc::Wait(10_ms);
@@ -42,4 +42,64 @@ TEST(InterruptTest, AsynchronousInterrupt) {
}
ASSERT_EQ(1, counter.load());
}
TEST(InterruptTest, RisingEdge) {
HAL_Initialize(500, 0);
std::atomic_bool hasFiredFallingEdge{false};
std::atomic_bool hasFiredRisingEdge{false};
DigitalInput di{0};
AsynchronousInterrupt interrupt{di, [&](bool rising, bool falling) {
hasFiredFallingEdge = falling;
hasFiredRisingEdge = rising;
}};
interrupt.SetInterruptEdges(true, true);
DIOSim digitalSim{di};
digitalSim.SetValue(false);
frc::Wait(0.5_s);
interrupt.Enable();
frc::Wait(10_ms);
digitalSim.SetValue(true);
frc::Wait(10_ms);
int count = 0;
while (!hasFiredRisingEdge) {
frc::Wait(5_ms);
count++;
ASSERT_TRUE(count < 1000);
}
EXPECT_FALSE(hasFiredFallingEdge);
EXPECT_TRUE(hasFiredRisingEdge);
}
TEST(InterruptTest, FallingEdge) {
HAL_Initialize(500, 0);
std::atomic_bool hasFiredFallingEdge{false};
std::atomic_bool hasFiredRisingEdge{false};
DigitalInput di{0};
AsynchronousInterrupt interrupt{di, [&](bool rising, bool falling) {
hasFiredFallingEdge = falling;
hasFiredRisingEdge = rising;
}};
interrupt.SetInterruptEdges(true, true);
DIOSim digitalSim{di};
digitalSim.SetValue(true);
frc::Wait(0.5_s);
interrupt.Enable();
frc::Wait(10_ms);
digitalSim.SetValue(false);
frc::Wait(10_ms);
int count = 0;
while (!hasFiredFallingEdge) {
frc::Wait(5_ms);
count++;
ASSERT_TRUE(count < 1000);
}
EXPECT_TRUE(hasFiredFallingEdge);
EXPECT_FALSE(hasFiredRisingEdge);
}
} // namespace frc