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https://github.com/wpilibsuite/allwpilib
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87 lines
2.7 KiB
C++
87 lines
2.7 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <string>
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#include <gtest/gtest.h>
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#include "wpi/hal/CTREPCM.h"
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#include "wpi/hal/Errors.h"
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#include "wpi/hal/HAL.h"
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#include "wpi/hal/handles/HandlesInternal.hpp"
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#include "wpi/hal/simulation/CTREPCMData.h"
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namespace wpi::hal {
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std::string gTestSolenoidCallbackName;
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HAL_Value gTestSolenoidCallbackValue;
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void TestSolenoidInitializationCallback(const char* name, void* param,
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const struct HAL_Value* value) {
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gTestSolenoidCallbackName = name;
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gTestSolenoidCallbackValue = *value;
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}
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TEST(PCMDataTest, PCMInitialization) {
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const int MODULE_TO_TEST = 2;
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int callbackParam = 0;
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int callbackId = HALSIM_RegisterCTREPCMInitializedCallback(
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MODULE_TO_TEST, &TestSolenoidInitializationCallback, &callbackParam,
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false);
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ASSERT_TRUE(0 != callbackId);
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int32_t status = 0;
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int32_t module;
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HAL_CTREPCMHandle pcmHandle;
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// Use out of range index
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module = 8000;
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gTestSolenoidCallbackName = "Unset";
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pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
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EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
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EXPECT_EQ(HAL_USE_LAST_ERROR, status);
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HAL_GetLastError(&status);
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EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
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EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
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// Successful setup
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status = 0;
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module = MODULE_TO_TEST;
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gTestSolenoidCallbackName = "Unset";
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pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
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// Double initialize... should fail
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status = 0;
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module = MODULE_TO_TEST;
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gTestSolenoidCallbackName = "Unset";
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pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
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EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
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EXPECT_EQ(HAL_USE_LAST_ERROR, status);
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HAL_GetLastError(&status);
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EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
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EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
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// Reset, should allow you to re-register
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wpi::hal::HandleBase::ResetGlobalHandles();
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HALSIM_ResetCTREPCMData(MODULE_TO_TEST);
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callbackId = HALSIM_RegisterCTREPCMInitializedCallback(
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MODULE_TO_TEST, &TestSolenoidInitializationCallback, &callbackParam,
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false);
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ASSERT_TRUE(0 != callbackId);
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status = 0;
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module = MODULE_TO_TEST;
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gTestSolenoidCallbackName = "Unset";
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pcmHandle = HAL_InitializeCTREPCM(0, module, nullptr, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
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}
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} // namespace wpi::hal
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