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[HLT] Add relay and analog cross connects (#3452)

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Thad House
2021-06-19 13:03:58 -07:00
committed by GitHub
parent b0f1ae7ea3
commit ee6377e54b
4 changed files with 226 additions and 0 deletions
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50
crossConnIntegrationTests/src/main/native/cpp/RelayAnalogTests.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <hal/AnalogInput.h>
#include <hal/Relay.h>
#include <wpi/SmallVector.h>
#include "CrossConnects.h"
#include "LifetimeWrappers.h"
#include "gtest/gtest.h"
using namespace hlt;
class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
TEST_P(RelayAnalogTest, TestRelayAnalogCross) {
auto param = GetParam();
int32_t status = 0;
RelayHandle relay{param.first, true, &status};
ASSERT_EQ(0, status);
AnalogInputHandle analog{param.second, &status};
ASSERT_EQ(0, status);
AnalogTriggerHandle trigger{analog, &status};
ASSERT_EQ(0, status);
HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
ASSERT_EQ(0, status);
HAL_SetRelay(relay, false, &status);
ASSERT_EQ(0, status);
usleep(1000);
ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
ASSERT_EQ(0, status);
HAL_SetRelay(relay, true, &status);
ASSERT_EQ(0, status);
usleep(1000);
ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
ASSERT_EQ(0, status);
HAL_SetRelay(relay, false, &status);
ASSERT_EQ(0, status);
usleep(1000);
ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
ASSERT_EQ(0, status);
}
INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTest, RelayAnalogTest,
::testing::ValuesIn(RelayAnalogCrossConnects));