TEST(RelaySimTests, TestRelayInitialization) {
const int INDEX_TO_TEST = 3;
int callbackParam = 0;
int callbackId = HALSIM_RegisterRelayInitializedForwardCallback(
INDEX_TO_TEST, &TestRelayInitializationCallback, &callbackParam, false);
ASSERT_TRUE(0 != callbackId);
int32_t status;
HAL_PortHandle portHandle;
HAL_DigitalHandle pdpHandle;
// Use out of range index
status = 0;
portHandle = 8000;
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
EXPECT_EQ(HAL_kInvalidHandle, pdpHandle);
EXPECT_EQ(PARAMETER_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestRelayCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pdpHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("InitializedForward", gTestRelayCallbackName.c_str());
// Double initialize... should fail
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
EXPECT_EQ(HAL_kInvalidHandle, pdpHandle);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestRelayCallbackName.c_str());
// Reset, should allow you to re-register
hal::HandleBase::ResetGlobalHandles();
HALSIM_ResetRelayData(INDEX_TO_TEST);
callbackId = HALSIM_RegisterRelayInitializedForwardCallback(
INDEX_TO_TEST, &TestRelayInitializationCallback, &callbackParam, false);
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pdpHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("InitializedForward", gTestRelayCallbackName.c_str());
}
/**
* Relay constructor given a channel.
*
* This code initializes the relay and reserves all resources that need to be
* locked. Initially the relay is set to both lines at 0v.
*
* @param channel The channel number (0-3).
* @param direction The direction that the Relay object will control.
*/
Relay::Relay(uint32_t channel, Relay::Direction direction)
: m_channel(channel), m_direction(direction) {
std::stringstream buf;
if (!SensorBase::CheckRelayChannel(m_channel)) {
buf << "Relay Channel " << m_channel;
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
HAL_PortHandle portHandle = HAL_GetPort(channel);
if (m_direction == kBothDirections || m_direction == kForwardOnly) {
int32_t status = 0;
m_forwardHandle = HAL_InitializeRelayPort(portHandle, true, &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(),
channel, HAL_GetErrorMessage(status));
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
return;
}
HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel);
}
if (m_direction == kBothDirections || m_direction == kReverseOnly) {
int32_t status = 0;
m_reverseHandle = HAL_InitializeRelayPort(portHandle, false, &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(),
channel, HAL_GetErrorMessage(status));
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
return;
}
HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel + 128);
}
int32_t status = 0;
if (m_forwardHandle != HAL_kInvalidHandle) {
HAL_SetRelay(m_forwardHandle, false, &status);
if (status != 0) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
return;
}
}
if (m_reverseHandle != HAL_kInvalidHandle) {
HAL_SetRelay(m_reverseHandle, false, &status);
if (status != 0) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
return;
}
}
m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
m_safetyHelper->SetSafetyEnabled(false);
LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
}
