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

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This commit is contained in:
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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4
crossConnIntegrationTests/src/main/native/include/CrossConnects.h
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@@ -55,4 +55,8 @@ struct RelayCross {
constexpr static std::array<RelayCross, 1> RelayCrossConnects{
RelayCross{0, 23, 22}};
// input on left
constexpr static std::array<std::pair<int, int>, 2> AnalogCrossConnects{
std::pair{2, 0}, std::pair{4, 1}};
} // namespace hlt

60
crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h
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@@ -45,6 +45,66 @@ struct DMAHandle {
HAL_DMAHandle handle = 0;
};
struct AnalogInputHandle {
public:
AnalogInputHandle(int32_t port, int32_t* status) {
handle = HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr, status);
}
AnalogInputHandle(const AnalogInputHandle&) = delete;
AnalogInputHandle operator=(const AnalogInputHandle&) = delete;
AnalogInputHandle(AnalogInputHandle&&) = default;
AnalogInputHandle& operator=(AnalogInputHandle&&) = default;
~AnalogInputHandle() { HAL_FreeAnalogInputPort(handle); }
operator HAL_AnalogInputHandle() const { return handle; }
private:
HAL_AnalogInputHandle handle = 0;
};
struct AnalogOutputHandle {
public:
AnalogOutputHandle(int32_t port, int32_t* status) {
handle = HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr, status);
}
AnalogOutputHandle(const AnalogOutputHandle&) = delete;
AnalogOutputHandle operator=(const AnalogOutputHandle&) = delete;
AnalogOutputHandle(AnalogOutputHandle&&) = default;
AnalogOutputHandle& operator=(AnalogOutputHandle&&) = default;
~AnalogOutputHandle() { HAL_FreeAnalogOutputPort(handle); }
operator HAL_AnalogOutputHandle() const { return handle; }
private:
HAL_AnalogOutputHandle handle = 0;
};
struct AnalogTriggerHandle {
public:
explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status) {
handle = HAL_InitializeAnalogTrigger(port, status);
}
AnalogTriggerHandle(const AnalogTriggerHandle&) = delete;
AnalogTriggerHandle operator=(const AnalogTriggerHandle&) = delete;
AnalogTriggerHandle(AnalogTriggerHandle&&) = default;
AnalogTriggerHandle& operator=(AnalogTriggerHandle&&) = default;
~AnalogTriggerHandle() {
int32_t status = 0;
HAL_CleanAnalogTrigger(handle, &status);
}
operator HAL_AnalogTriggerHandle() const { return handle; }
private:
HAL_AnalogTriggerHandle handle = 0;
};
struct DIOHandle {
public:
DIOHandle() {}