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https://github.com/wpilibsuite/allwpilib
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57 lines
2.4 KiB
C++
57 lines
2.4 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017 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 "NTProvider_Analog.h"
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#include <HAL/Ports.h>
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#include <MockData/AnalogInData.h>
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#include <MockData/AnalogOutData.h>
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void HALSimNTProviderAnalogIn::Initialize() {
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InitializeDefault(HAL_GetNumAnalogInputs(),
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HALSIM_RegisterAnalogInAllCallbacks);
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}
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void HALSimNTProviderAnalogIn::OnCallback(
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uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogInInitialized(chan));
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table->GetEntry("avg_bits").SetDouble(HALSIM_GetAnalogInAverageBits(chan));
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table->GetEntry("oversample_bits")
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.SetDouble(HALSIM_GetAnalogInOversampleBits(chan));
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table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogInVoltage(chan));
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auto accum = table->GetSubTable("accum");
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accum->GetEntry("init?").SetBoolean(
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HALSIM_GetAnalogInAccumulatorInitialized(chan));
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accum->GetEntry("value").SetDouble(HALSIM_GetAnalogInAccumulatorValue(chan));
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accum->GetEntry("count").SetDouble(HALSIM_GetAnalogInAccumulatorCount(chan));
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accum->GetEntry("center").SetDouble(
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HALSIM_GetAnalogInAccumulatorCenter(chan));
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accum->GetEntry("deadband")
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.SetDouble(HALSIM_GetAnalogInAccumulatorDeadband(chan));
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}
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void HALSimNTProviderAnalogIn::OnInitializedChannel(
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uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry("voltage").AddListener(
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[=](const nt::EntryNotification& ev) -> void {
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HALSIM_SetAnalogInVoltage(chan, ev.value->GetDouble());
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},
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NT_NotifyKind::NT_NOTIFY_UPDATE);
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}
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void HALSimNTProviderAnalogOut::Initialize() {
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InitializeDefault(HAL_GetNumAnalogOutputs(),
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HALSIM_RegisterAnalogOutAllCallbacks);
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}
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void HALSimNTProviderAnalogOut::OnCallback(
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uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogOutInitialized(chan));
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table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogOutVoltage(chan));
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}
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