| Austin Schuh | 812d0d1 | 2021-11-04 20:16:48 -0700 | [diff] [blame] | 1 | // Copyright (c) FIRST and other WPILib contributors. |
| 2 | // Open Source Software; you can modify and/or share it under the terms of |
| 3 | // the WPILib BSD license file in the root directory of this project. |
| 4 | |
| 5 | #include <hal/Relay.h> |
| 6 | #include <wpi/SmallVector.h> |
| 7 | |
| 8 | #include "CrossConnects.h" |
| 9 | #include "LifetimeWrappers.h" |
| 10 | #include "gtest/gtest.h" |
| 11 | |
| 12 | using namespace hlt; |
| 13 | |
| 14 | class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {}; |
| 15 | |
| 16 | TEST_P(RelayDigitalTest, RelayCross) { |
| 17 | auto param = GetParam(); |
| 18 | int32_t status = 0; |
| 19 | RelayHandle fwd{param.Relay, true, &status}; |
| 20 | ASSERT_EQ(0, status); |
| 21 | RelayHandle rev{param.Relay, false, &status}; |
| 22 | ASSERT_EQ(0, status); |
| 23 | DIOHandle fwdInput{param.FwdDio, true, &status}; |
| 24 | ASSERT_EQ(0, status); |
| 25 | DIOHandle revInput{param.RevDio, true, &status}; |
| 26 | ASSERT_EQ(0, status); |
| 27 | |
| 28 | HAL_SetRelay(fwd, false, &status); |
| 29 | ASSERT_EQ(0, status); |
| 30 | HAL_SetRelay(rev, false, &status); |
| 31 | ASSERT_EQ(0, status); |
| 32 | usleep(1000); |
| 33 | ASSERT_FALSE(HAL_GetDIO(fwdInput, &status)); |
| 34 | ASSERT_EQ(0, status); |
| 35 | ASSERT_FALSE(HAL_GetDIO(revInput, &status)); |
| 36 | ASSERT_EQ(0, status); |
| 37 | |
| 38 | HAL_SetRelay(fwd, false, &status); |
| 39 | ASSERT_EQ(0, status); |
| 40 | HAL_SetRelay(rev, true, &status); |
| 41 | ASSERT_EQ(0, status); |
| 42 | usleep(1000); |
| 43 | ASSERT_FALSE(HAL_GetDIO(fwdInput, &status)); |
| 44 | ASSERT_EQ(0, status); |
| 45 | ASSERT_TRUE(HAL_GetDIO(revInput, &status)); |
| 46 | ASSERT_EQ(0, status); |
| 47 | |
| 48 | HAL_SetRelay(fwd, true, &status); |
| 49 | ASSERT_EQ(0, status); |
| 50 | HAL_SetRelay(rev, false, &status); |
| 51 | ASSERT_EQ(0, status); |
| 52 | usleep(1000); |
| 53 | ASSERT_TRUE(HAL_GetDIO(fwdInput, &status)); |
| 54 | ASSERT_EQ(0, status); |
| 55 | ASSERT_FALSE(HAL_GetDIO(revInput, &status)); |
| 56 | ASSERT_EQ(0, status); |
| 57 | |
| 58 | HAL_SetRelay(fwd, true, &status); |
| 59 | ASSERT_EQ(0, status); |
| 60 | HAL_SetRelay(rev, true, &status); |
| 61 | ASSERT_EQ(0, status); |
| 62 | usleep(1000); |
| 63 | ASSERT_TRUE(HAL_GetDIO(fwdInput, &status)); |
| 64 | ASSERT_EQ(0, status); |
| 65 | ASSERT_TRUE(HAL_GetDIO(revInput, &status)); |
| 66 | ASSERT_EQ(0, status); |
| 67 | } |
| 68 | |
| 69 | TEST(RelayDigitalTest, AllocateAll) { |
| 70 | wpi::SmallVector<RelayHandle, 32> relayHandles; |
| 71 | for (int i = 0; i < HAL_GetNumRelayChannels(); i++) { |
| 72 | int32_t status = 0; |
| 73 | relayHandles.emplace_back(i / 2, i % 2, &status); |
| 74 | ASSERT_EQ(status, 0); |
| 75 | } |
| 76 | } |
| 77 | |
| 78 | TEST(RelayDigitalTest, MultipleAllocateFails) { |
| 79 | int32_t status = 0; |
| 80 | RelayHandle handle(0, true, &status); |
| 81 | ASSERT_NE(handle, HAL_kInvalidHandle); |
| 82 | ASSERT_EQ(status, 0); |
| 83 | |
| 84 | RelayHandle handle2(0, true, &status); |
| 85 | ASSERT_EQ(handle2, HAL_kInvalidHandle); |
| 86 | ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED); |
| 87 | } |
| 88 | |
| 89 | TEST(RelayDigitalTest, OverAllocateFails) { |
| 90 | int32_t status = 0; |
| 91 | RelayHandle handle(HAL_GetNumRelayChannels(), true, &status); |
| 92 | ASSERT_EQ(handle, HAL_kInvalidHandle); |
| 93 | ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE); |
| 94 | } |
| 95 | |
| 96 | TEST(RelayDigitalTest, UnderAllocateFails) { |
| 97 | int32_t status = 0; |
| 98 | RelayHandle handle(-1, true, &status); |
| 99 | ASSERT_EQ(handle, HAL_kInvalidHandle); |
| 100 | ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE); |
| 101 | } |
| 102 | |
| 103 | INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTests, RelayDigitalTest, |
| 104 | ::testing::ValuesIn(RelayCrossConnects)); |