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ce3bc91946
Also move some things in HAL for consistency. WAS: C++: - C APIs: #include "mockdata/AccelerometerData.h" - User side class: #include "simulation/AccelerometerSim.h" Java: - JNI APIs: hal.sim.mockdata.AccelerometerData (and a few classes in hal.sim) - User side classes: hal.sim.AccelerometerSim IS: C++: - C APIs: #include "hal/simulation/AccelerometerData.h" - C++ class: #include "frc/simulation/AccelerometerSim.h" Java: - JNI APIs: hal.simulation.AccelerometerData - User side class: wpilibj.simulation.AccelerometerSim
82 lines
2.9 KiB
C++
82 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2015-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "gtest/gtest.h"
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#include "hal/DIO.h"
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#include "hal/HAL.h"
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#include "hal/handles/HandlesInternal.h"
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#include "hal/simulation/DIOData.h"
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namespace hal {
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std::string gTestDigitalIoCallbackName;
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HAL_Value gTestDigitalIoCallbackValue;
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void TestDigitalIoInitializationCallback(const char* name, void* param,
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const struct HAL_Value* value) {
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gTestDigitalIoCallbackName = name;
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gTestDigitalIoCallbackValue = *value;
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}
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TEST(DigitalIoSimTests, TestDigitalIoInitialization) {
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const int INDEX_TO_TEST = 3;
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int callbackParam = 0;
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int callbackId = HALSIM_RegisterDIOInitializedCallback(
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INDEX_TO_TEST, &TestDigitalIoInitializationCallback, &callbackParam,
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false);
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ASSERT_TRUE(0 != callbackId);
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int32_t status;
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HAL_PortHandle portHandle;
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HAL_DigitalHandle digitalIoHandle;
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// Use out of range index
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status = 0;
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portHandle = 8000;
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gTestDigitalIoCallbackName = "Unset";
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digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
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EXPECT_EQ(HAL_kInvalidHandle, digitalIoHandle);
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EXPECT_EQ(PARAMETER_OUT_OF_RANGE, status);
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EXPECT_STREQ("Unset", gTestDigitalIoCallbackName.c_str());
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// Successful setup
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status = 0;
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portHandle = HAL_GetPort(INDEX_TO_TEST);
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gTestDigitalIoCallbackName = "Unset";
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digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != digitalIoHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("Initialized", gTestDigitalIoCallbackName.c_str());
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// Double initialize... should fail
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status = 0;
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portHandle = HAL_GetPort(INDEX_TO_TEST);
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gTestDigitalIoCallbackName = "Unset";
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digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
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EXPECT_EQ(HAL_kInvalidHandle, digitalIoHandle);
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EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
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EXPECT_STREQ("Unset", gTestDigitalIoCallbackName.c_str());
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// Reset, should allow you to re-register
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hal::HandleBase::ResetGlobalHandles();
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HALSIM_ResetDIOData(INDEX_TO_TEST);
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callbackId = HALSIM_RegisterDIOInitializedCallback(
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INDEX_TO_TEST, &TestDigitalIoInitializationCallback, &callbackParam,
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false);
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status = 0;
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portHandle = HAL_GetPort(INDEX_TO_TEST);
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gTestDigitalIoCallbackName = "Unset";
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digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != digitalIoHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("Initialized", gTestDigitalIoCallbackName.c_str());
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}
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} // namespace hal
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