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https://github.com/wpilibsuite/allwpilib
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52 lines
2.4 KiB
C++
52 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_RoboRIO.h"
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#include <HAL/Ports.h>
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#include <MockData/RoboRioData.h>
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void HALSimNTProviderRoboRIO::Initialize() {
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InitializeDefault(1, HALSIM_RegisterRoboRioAllCallbacks);
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}
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void HALSimNTProviderRoboRIO::OnCallback(
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uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry("fpga_button?").SetBoolean(HALSIM_GetRoboRioFPGAButton(chan));
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table->GetEntry("vin_voltage").SetDouble(HALSIM_GetRoboRioVInVoltage(chan));
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table->GetEntry("vin_current").SetDouble(HALSIM_GetRoboRioVInCurrent(chan));
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auto t6v = table->GetSubTable("6V");
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t6v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage6V(chan));
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t6v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent6V(chan));
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t6v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive6V(chan));
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t6v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults6V(chan));
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auto t5v = table->GetSubTable("5V");
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t5v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage5V(chan));
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t5v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent5V(chan));
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t5v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive5V(chan));
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t5v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults5V(chan));
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auto t3v3 = table->GetSubTable("3V3");
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t3v3->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage3V3(chan));
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t3v3->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent3V3(chan));
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t3v3->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive3V3(chan));
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t3v3->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults3V3(chan));
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}
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void HALSimNTProviderRoboRIO::OnInitializedChannel(
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uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
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table->GetEntry("fpga_button?")
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.AddListener(
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[=](const nt::EntryNotification& ev) -> void {
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HALSIM_SetRoboRioFPGAButton(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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