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https://github.com/wpilibsuite/allwpilib
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105 lines
3.0 KiB
C++
105 lines
3.0 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 <gtest/gtest.h>
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#include <hal/Relay.h>
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#include <wpi/SmallVector.h>
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#include "CrossConnects.h"
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#include "LifetimeWrappers.h"
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using namespace hlt;
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class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {};
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TEST_P(RelayDigitalTest, RelayCross) {
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auto param = GetParam();
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int32_t status = 0;
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RelayHandle fwd{param.Relay, true, &status};
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ASSERT_EQ(0, status);
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RelayHandle rev{param.Relay, false, &status};
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ASSERT_EQ(0, status);
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DIOHandle fwdInput{param.FwdDio, true, &status};
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ASSERT_EQ(0, status);
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DIOHandle revInput{param.RevDio, true, &status};
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ASSERT_EQ(0, status);
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HAL_SetRelay(fwd, false, &status);
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ASSERT_EQ(0, status);
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HAL_SetRelay(rev, false, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
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ASSERT_EQ(0, status);
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ASSERT_FALSE(HAL_GetDIO(revInput, &status));
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ASSERT_EQ(0, status);
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HAL_SetRelay(fwd, false, &status);
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ASSERT_EQ(0, status);
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HAL_SetRelay(rev, true, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
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ASSERT_EQ(0, status);
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ASSERT_TRUE(HAL_GetDIO(revInput, &status));
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ASSERT_EQ(0, status);
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HAL_SetRelay(fwd, true, &status);
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ASSERT_EQ(0, status);
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HAL_SetRelay(rev, false, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
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ASSERT_EQ(0, status);
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ASSERT_FALSE(HAL_GetDIO(revInput, &status));
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ASSERT_EQ(0, status);
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HAL_SetRelay(fwd, true, &status);
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ASSERT_EQ(0, status);
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HAL_SetRelay(rev, true, &status);
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ASSERT_EQ(0, status);
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usleep(1000);
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ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
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ASSERT_EQ(0, status);
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ASSERT_TRUE(HAL_GetDIO(revInput, &status));
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ASSERT_EQ(0, status);
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}
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TEST(RelayDigitalTest, AllocateAll) {
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wpi::SmallVector<RelayHandle, 32> relayHandles;
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for (int i = 0; i < HAL_GetNumRelayChannels(); i++) {
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int32_t status = 0;
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relayHandles.emplace_back(i / 2, i % 2, &status);
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ASSERT_EQ(status, 0);
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}
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}
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TEST(RelayDigitalTest, MultipleAllocateFails) {
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int32_t status = 0;
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RelayHandle handle(0, true, &status);
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ASSERT_NE(handle, HAL_kInvalidHandle);
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ASSERT_EQ(status, 0);
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RelayHandle handle2(0, true, &status);
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ASSERT_EQ(handle2, HAL_kInvalidHandle);
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ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
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}
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TEST(RelayDigitalTest, OverAllocateFails) {
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int32_t status = 0;
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RelayHandle handle(HAL_GetNumRelayChannels(), true, &status);
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ASSERT_EQ(handle, HAL_kInvalidHandle);
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ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
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}
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TEST(RelayDigitalTest, UnderAllocateFails) {
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int32_t status = 0;
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RelayHandle handle(-1, true, &status);
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ASSERT_EQ(handle, HAL_kInvalidHandle);
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ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
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}
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INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTests, RelayDigitalTest,
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::testing::ValuesIn(RelayCrossConnects));
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