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https://github.com/wpilibsuite/allwpilib
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47 lines
2.0 KiB
C++
47 lines
2.0 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_Encoder.h"
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#include <HAL/Ports.h>
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#include <MockData/EncoderData.h>
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void HALSimNTProviderEncoder::Initialize() {
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InitializeDefault(HAL_GetNumEncoders(), HALSIM_RegisterEncoderAllCallbacks);
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}
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void HALSimNTProviderEncoder::OnCallback(
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uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry("init?").SetBoolean(HALSIM_GetEncoderInitialized(chan));
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table->GetEntry("count").SetDouble(HALSIM_GetEncoderCount(chan));
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table->GetEntry("period").SetDouble(HALSIM_GetEncoderPeriod(chan));
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table->GetEntry("reset?").SetBoolean(HALSIM_GetEncoderReset(chan));
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table->GetEntry("max_period").SetDouble(HALSIM_GetEncoderMaxPeriod(chan));
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table->GetEntry("direction").SetBoolean(HALSIM_GetEncoderDirection(chan));
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table->GetEntry("reverse_direction?")
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.SetBoolean(HALSIM_GetEncoderReverseDirection(chan));
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table->GetEntry("samples_to_avg")
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.SetDouble(HALSIM_GetEncoderSamplesToAverage(chan));
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}
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void HALSimNTProviderEncoder::OnInitializedChannel(
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uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry("count").AddListener(
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[=](const nt::EntryNotification& ev) -> void {
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HALSIM_SetEncoderCount(chan,
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static_cast<int32_t>(ev.value->GetDouble()));
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},
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NT_NotifyKind::NT_NOTIFY_UPDATE);
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table->GetEntry("direction")
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.AddListener(
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[=](const nt::EntryNotification& ev) -> void {
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HALSIM_SetEncoderDirection(chan, ev.value->GetBoolean());
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},
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NT_NotifyKind::NT_NOTIFY_UPDATE);
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}
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