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60ede67abd
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places. In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested. In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one. This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM. After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors. Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
76 lines
2.5 KiB
C++
76 lines
2.5 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 <hal/HAL.h>
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#include "frc/DoubleSolenoid.h"
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#include "frc/PneumaticsControlModule.h"
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#include "frc/Solenoid.h"
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#include "gtest/gtest.h"
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namespace frc {
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TEST(DoubleSolenoidTest, ValidInitialization) {
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DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
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solenoid.Set(DoubleSolenoid::kReverse);
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EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
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solenoid.Set(DoubleSolenoid::kForward);
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EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
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solenoid.Set(DoubleSolenoid::kOff);
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EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
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}
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TEST(DoubleSolenoidTest, ThrowForwardPortAlreadyInitialized) {
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// Single solenoid that is reused for forward port
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Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
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EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
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std::runtime_error);
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}
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TEST(DoubleSolenoidTest, ThrowReversePortAlreadyInitialized) {
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// Single solenoid that is reused for forward port
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Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
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EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
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std::runtime_error);
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}
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TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
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PneumaticsControlModule pcm{6};
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// Single solenoid that is reused for forward port
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Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
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Solenoid solenoid1(6, frc::PneumaticsModuleType::CTREPCM, 3);
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EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
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std::runtime_error);
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}
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TEST(DoubleSolenoidTest, Toggle) {
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DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
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// Bootstrap it into reverse
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solenoid.Set(DoubleSolenoid::kReverse);
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solenoid.Toggle();
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EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
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solenoid.Toggle();
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EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
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// Of shouldn't do anything on toggle
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solenoid.Set(DoubleSolenoid::kOff);
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solenoid.Toggle();
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EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
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}
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TEST(DoubleSolenoidTest, InvalidForwardPort) {
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EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
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std::runtime_error);
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}
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TEST(DoubleSolenoidTest, InvalidReversePort) {
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EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
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std::runtime_error);
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}
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} // namespace frc
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