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https://github.com/wpilibsuite/allwpilib
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85 lines
2.7 KiB
C++
85 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 "wpi/hal/simulation/PWMData.h"
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#include <string>
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#include <gtest/gtest.h>
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#include "wpi/hal/Errors.h"
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#include "wpi/hal/HALBase.h"
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#include "wpi/hal/PWM.h"
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#include "wpi/hal/handles/HandlesInternal.hpp"
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namespace wpi::hal {
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std::string gTestPwmCallbackName;
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HAL_Value gTestPwmCallbackValue;
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void TestPwmInitializationCallback(const char* name, void* param,
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const struct HAL_Value* value) {
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gTestPwmCallbackName = name;
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gTestPwmCallbackValue = *value;
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}
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TEST(PWMSimTest, PwmInitialization) {
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const int INDEX_TO_TEST = 7;
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int callbackParam = 0;
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int callbackId = HALSIM_RegisterPWMInitializedCallback(
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INDEX_TO_TEST, &TestPwmInitializationCallback, &callbackParam, false);
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ASSERT_TRUE(0 != callbackId);
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int32_t status = 0;
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int32_t channel = 0;
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HAL_DigitalHandle pwmHandle;
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// Use out of range index
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channel = 8000;
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gTestPwmCallbackName = "Unset";
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pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
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EXPECT_EQ(HAL_kInvalidHandle, pwmHandle);
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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", gTestPwmCallbackName.c_str());
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// Successful setup
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status = 0;
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channel = INDEX_TO_TEST;
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gTestPwmCallbackName = "Unset";
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pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != pwmHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("Initialized", gTestPwmCallbackName.c_str());
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// Double initialize... should fail
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status = 0;
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channel = INDEX_TO_TEST;
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gTestPwmCallbackName = "Unset";
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pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
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EXPECT_EQ(HAL_kInvalidHandle, pwmHandle);
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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", gTestPwmCallbackName.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_ResetPWMData(INDEX_TO_TEST);
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callbackId = HALSIM_RegisterPWMInitializedCallback(
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INDEX_TO_TEST, &TestPwmInitializationCallback, &callbackParam, false);
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status = 0;
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channel = INDEX_TO_TEST;
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gTestPwmCallbackName = "Unset";
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pwmHandle = HAL_InitializePWMPort(channel, nullptr, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != pwmHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("Initialized", gTestPwmCallbackName.c_str());
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HALSIM_CancelPWMInitializedCallback(INDEX_TO_TEST, callbackId);
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}
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} // namespace wpi::hal
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