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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
84 lines
3.1 KiB
C++
84 lines
3.1 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/HAL.h"
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#include "hal/Solenoid.h"
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#include "hal/handles/HandlesInternal.h"
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#include "hal/simulation/PCMData.h"
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namespace 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(SolenoidSimTests, TestSolenoidInitialization) {
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const int MODULE_TO_TEST = 2;
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const int CHANNEL_TO_TEST = 3;
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int callbackParam = 0;
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int callbackId = HALSIM_RegisterPCMSolenoidInitializedCallback(
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MODULE_TO_TEST, CHANNEL_TO_TEST, &TestSolenoidInitializationCallback,
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&callbackParam, 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 solenoidHandle;
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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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gTestSolenoidCallbackName = "Unset";
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solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
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EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
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EXPECT_EQ(HAL_HANDLE_ERROR, 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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portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
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gTestSolenoidCallbackName = "Unset";
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solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
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// Double initialize... should fail
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status = 0;
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portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
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gTestSolenoidCallbackName = "Unset";
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solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
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EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
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EXPECT_EQ(NO_AVAILABLE_RESOURCES, 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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hal::HandleBase::ResetGlobalHandles();
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HALSIM_ResetPCMData(MODULE_TO_TEST);
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callbackId = HALSIM_RegisterPCMSolenoidInitializedCallback(
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MODULE_TO_TEST, CHANNEL_TO_TEST, &TestSolenoidInitializationCallback,
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&callbackParam, false);
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ASSERT_TRUE(0 != callbackId);
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status = 0;
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portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
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gTestSolenoidCallbackName = "Unset";
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solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
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EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
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EXPECT_EQ(0, status);
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EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
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}
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} // namespace hal
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