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Remove old simulation bits (ds_nt, lowfi, print) (#2432)

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These are little used, not actively maintained, and the simulation GUI
and alternative plans for physics simulation replace the functionality.
This commit is contained in:
Peter Johnson
2020-03-22 22:52:19 -07:00
committed by GitHub
parent f6df9217b6
commit 029a94dd33
64 changed files with 2 additions and 2224 deletions
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4
settings.gradle
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@@ -26,13 +26,9 @@ include 'wpilibcIntegrationTests'
include 'wpilibjExamples'
include 'wpilibjIntegrationTests'
include 'wpilibj'
include 'simulation:halsim_print'
include 'simulation:halsim_lowfi'
include 'simulation:halsim_ds_nt'
include 'simulation:gz_msgs'
include 'simulation:frc_gazebo_plugins'
include 'simulation:halsim_gazebo'
include 'simulation:lowfi_simulation'
include 'simulation:halsim_ds_socket'
include 'simulation:halsim_gui'
include 'cameraserver'

4
simulation/CMakeLists.txt
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@@ -1,9 +1,5 @@
add_subdirectory(halsim_gui)
add_subdirectory(halsim_print)
add_subdirectory(halsim_lowfi)
add_subdirectory(halsim_ds_nt)
#add_subdirectory(gz_msgs)
#add_subdirectory(frc_gazebo_plugins)
#add_subdirectory(halsim_gazebo)
#add_subdirectory(lowfi_simulation)
add_subdirectory(halsim_ds_socket)

16
simulation/halsim_ds_nt/CMakeLists.txt
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@@ -1,16 +0,0 @@
project(halsim_ds_nt)
include(CompileWarnings)
file(GLOB halsim_ds_nt_src src/main/native/cpp/*.cpp)
add_library(halsim_ds_nt MODULE ${halsim_ds_nt_src})
wpilib_target_warnings(halsim_ds_nt)
set_target_properties(halsim_ds_nt PROPERTIES DEBUG_POSTFIX "d")
target_link_libraries(halsim_ds_nt PUBLIC hal ntcore)
target_include_directories(halsim_ds_nt PRIVATE src/main/native/include)
set_property(TARGET halsim_ds_nt PROPERTY FOLDER "libraries")
install(TARGETS halsim_ds_nt EXPORT halsim_ds_nt DESTINATION "${main_lib_dest}")

9
simulation/halsim_ds_nt/build.gradle
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@@ -1,9 +0,0 @@
description = "A simulation shared object that uses NetworkTables to act as a stand-in for the FRC Driver Station"
ext {
includeNtCore = true
includeWpiutil = true
pluginName = 'halsim_ds_nt'
}
apply from: "${rootDir}/shared/plugins/setupBuild.gradle"

8
simulation/halsim_ds_nt/src/dev/native/cpp/main.cpp
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@@ -1,8 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
int main() {}

194
simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp
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@@ -1,194 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HALSimDsNt.h"
void HALSimDSNT::Initialize() {
rootTable =
nt::NetworkTableInstance::GetDefault().GetTable("sim")->GetSubTable(
"DS_CONTROL"); // Not to be confused with sim::DriverStation from
// HALSim LowFi
// LOOP TIMING //
auto timinghz = rootTable->GetEntry("timing_hz");
timinghz.ForceSetDouble(50);
timinghz.AddListener(
[this](const nt::EntryNotification& ev) -> void {
double valIn = ev.value->GetDouble();
double val = 0;
val = (valIn < 1 ? 1 : valIn > 100 ? 100 : valIn);
if (val != valIn) {
this->rootTable->GetEntry("timing_hz").ForceSetDouble(val);
Flush();
}
this->timingHz = val;
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
// MODES //
modeTable = rootTable->GetSubTable("mode");
auto mtele = modeTable->GetEntry("teleop?");
auto mauto = modeTable->GetEntry("auto?");
auto mtest = modeTable->GetEntry("test?");
auto enabled = modeTable->GetEntry("enabled?");
auto estop = modeTable->GetEntry("estop?");
mtele.ForceSetBoolean(true);
mauto.ForceSetBoolean(false);
mtest.ForceSetBoolean(false);
enabled.ForceSetBoolean(false);
estop.ForceSetBoolean(false);
mtele.AddListener(
[this](const nt::EntryNotification& ev) -> void {
this->HandleModePress(HALSimDSNT_Mode::teleop, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
mauto.AddListener(
[this](const nt::EntryNotification& ev) -> void {
this->HandleModePress(HALSimDSNT_Mode::auton, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
mtest.AddListener(
[this](const nt::EntryNotification& ev) -> void {
this->HandleModePress(HALSimDSNT_Mode::test, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
enabled.AddListener(
[this](const nt::EntryNotification& ev) -> void {
std::scoped_lock lock(modeMutex);
if (!this->isEstop) {
this->isEnabled = ev.value->GetBoolean();
} else {
this->isEnabled = false;
}
this->DoModeUpdate();
this->UpdateModeButtons();
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
estop.AddListener(
[this](const nt::EntryNotification& ev) -> void {
std::scoped_lock lock(modeMutex);
this->isEstop = ev.value->GetBoolean();
if (this->isEstop) {
this->isEnabled = false;
}
this->DoModeUpdate();
this->UpdateModeButtons();
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
// ALLIANCES //
allianceTable = rootTable->GetSubTable("alliance");
auto allianceStation = allianceTable->GetEntry("station");
auto allianceColorRed = allianceTable->GetEntry("red?");
allianceStation.ForceSetDouble(1);
allianceColorRed.ForceSetBoolean(true);
allianceStation.AddListener(
[this](const nt::EntryNotification& ev) -> void {
double stnIn = ev.value->GetDouble();
double stn = 0;
stn = (stnIn > 3 ? 3 : stnIn < 1 ? 1 : stnIn);
if (stn != stnIn) {
this->allianceTable->GetEntry("station").ForceSetDouble(stn);
Flush();
}
this->allianceStation = stn;
this->DoAllianceUpdate();
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
allianceColorRed.AddListener(
[this](const nt::EntryNotification& ev) -> void {
this->isAllianceRed = ev.value->GetBoolean();
this->DoAllianceUpdate();
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
// FINAL LOGIC //
Flush();
loopThread = std::thread([this]() -> void {
this->running = true;
this->LoopFunc();
});
loopThread.detach();
}
void HALSimDSNT::HandleModePress(enum HALSimDSNT_Mode mode, bool isPressed) {
if (isPressed) {
if (mode != currentMode) {
std::scoped_lock lock(modeMutex);
currentMode = mode;
isEnabled = false;
this->DoModeUpdate();
}
}
this->UpdateModeButtons();
}
void HALSimDSNT::UpdateModeButtons() {
modeTable->GetEntry("teleop?").ForceSetBoolean(currentMode ==
HALSimDSNT_Mode::teleop);
modeTable->GetEntry("auto?").ForceSetBoolean(currentMode ==
HALSimDSNT_Mode::auton);
modeTable->GetEntry("test?").ForceSetBoolean(currentMode ==
HALSimDSNT_Mode::test);
modeTable->GetEntry("enabled?").ForceSetBoolean(isEnabled);
Flush();
}
void HALSimDSNT::DoModeUpdate() {
HALSIM_SetDriverStationAutonomous(currentMode == HALSimDSNT_Mode::auton);
HALSIM_SetDriverStationTest(currentMode == HALSimDSNT_Mode::test);
HALSIM_SetDriverStationEnabled(isEnabled);
if (isEnabled && !lastIsEnabled) {
currentMatchTime = 0;
}
lastIsEnabled = isEnabled;
HALSIM_SetDriverStationEStop(isEstop);
HALSIM_SetDriverStationFmsAttached(false);
HALSIM_SetDriverStationDsAttached(true);
HALSIM_NotifyDriverStationNewData();
}
void HALSimDSNT::DoAllianceUpdate() {
HALSIM_SetDriverStationAllianceStationId(static_cast<HAL_AllianceStationID>(
(isAllianceRed ? HAL_AllianceStationID_kRed1
: HAL_AllianceStationID_kBlue1) +
(static_cast<int32_t>(allianceStation) - 1)));
}
void HALSimDSNT::LoopFunc() {
while (running) {
double dt = 1000 / timingHz;
std::this_thread::sleep_for(
std::chrono::milliseconds(static_cast<int64_t>(dt)));
if (isEnabled) {
currentMatchTime = currentMatchTime + dt;
HALSIM_SetDriverStationMatchTime(currentMatchTime);
}
HALSIM_NotifyDriverStationNewData();
}
}
void HALSimDSNT::Flush() { rootTable->GetInstance().Flush(); }

26
simulation/halsim_ds_nt/src/main/native/cpp/main.cpp
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@@ -1,26 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <HALSimDsNt.h>
static HALSimDSNT dsnt;
extern "C" {
#if defined(WIN32) || defined(_WIN32)
__declspec(dllexport)
#endif
int HALSIM_InitExtension(void) {
std::cout << "DriverStationNT Initializing." << std::endl;
dsnt.Initialize();
std::cout << "DriverStationNT Initialized!" << std::endl;
return 0;
}
} // extern "C"

37
simulation/halsim_ds_nt/src/main/native/include/HALSimDsNt.h
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@@ -1,37 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <atomic>
#include <memory>
#include <thread>
#include <mockdata/DriverStationData.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/mutex.h>
enum HALSimDSNT_Mode { teleop, auton, test };
class HALSimDSNT {
public:
std::shared_ptr<nt::NetworkTable> rootTable, modeTable, allianceTable;
enum HALSimDSNT_Mode currentMode;
bool isEnabled, lastIsEnabled, isEstop;
std::atomic<bool> isAllianceRed, running;
std::atomic<double> currentMatchTime, timingHz, allianceStation;
std::thread loopThread;
wpi::mutex modeMutex;
void Initialize();
void HandleModePress(enum HALSimDSNT_Mode mode, bool isPressed);
void UpdateModeButtons();
void DoModeUpdate();
void DoAllianceUpdate();
void LoopFunc();
void Flush();
};

16
simulation/halsim_lowfi/CMakeLists.txt
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@@ -1,16 +0,0 @@
project(halsim_lowfi)
include(CompileWarnings)
file(GLOB halsim_lowfi_src src/main/native/cpp/*.cpp)
add_library(halsim_lowfi MODULE ${halsim_lowfi_src})
wpilib_target_warnings(halsim_lowfi)
set_target_properties(halsim_lowfi PROPERTIES DEBUG_POSTFIX "d")
target_link_libraries(halsim_lowfi PUBLIC hal ntcore)
target_include_directories(halsim_lowfi PRIVATE src/main/native/include)
set_property(TARGET halsim_lowfi PROPERTY FOLDER "libraries")
install(TARGETS halsim_lowfi EXPORT halsim_lowfi DESTINATION "${main_lib_dest}")

9
simulation/halsim_lowfi/build.gradle
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@@ -1,9 +0,0 @@
description = "A simulation shared object that publishes basic robot I/O to NetworkTables."
ext {
includeNtCore = true
includeWpiutil = true
pluginName = 'halsim_lowfi'
}
apply from: "${rootDir}/shared/plugins/setupBuild.gradle"

8
simulation/halsim_lowfi/src/dev/native/cpp/main.cpp
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@@ -1,8 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
int main() {}

62
simulation/halsim_lowfi/src/main/native/cpp/HALSimLowFi.cpp
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@@ -1,62 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HALSimLowFi.h"
#include <wpi/Twine.h>
void HALSimLowFi::Initialize() {
table = nt::NetworkTableInstance::GetDefault().GetTable("sim");
}
void HALSimNTProvider::Inject(std::shared_ptr<HALSimLowFi> parentArg,
std::string tableNameArg) {
parent = parentArg;
tableName = std::move(tableNameArg);
table = parent->table->GetSubTable(tableName);
this->Initialize();
}
void NTProviderBaseCallback(const char* name, void* param,
const struct HAL_Value* value) {
auto info =
static_cast<struct HALSimNTProvider::NTProviderCallbackInfo*>(param);
uint32_t chan = static_cast<uint32_t>(info->channel);
auto provider = info->provider;
auto table = info->table;
provider->OnCallback(chan, table);
}
void HALSimNTProvider::InitializeDefault(
int numChannels, HALCbRegisterIndexedFunc registerFunc) {
this->numChannels = numChannels;
cbInfos.reserve(numChannels);
for (int i = 0; i < numChannels; i++) {
struct NTProviderCallbackInfo info = {
this, table->GetSubTable(tableName + wpi::Twine(i)), i};
cbInfos.emplace_back(info);
}
for (auto& info : cbInfos) {
registerFunc(info.channel, NTProviderBaseCallback, &info, true);
OnInitializedChannel(info.channel, info.table);
}
}
void HALSimNTProvider::InitializeDefaultSingle(
HALCbRegisterSingleFunc registerFunc) {
struct NTProviderCallbackInfo info = {this, table, 0};
cbInfos.push_back(info);
for (auto& info : cbInfos) {
registerFunc(NTProviderBaseCallback, &info, true);
}
}
void HALSimNTProvider::OnInitializedChannel(
uint32_t channel, std::shared_ptr<nt::NetworkTable> table) {}

56
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Analog.cpp
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@@ -1,56 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_Analog.h"
#include <hal/Ports.h>
#include <mockdata/AnalogInData.h>
#include <mockdata/AnalogOutData.h>
void HALSimNTProviderAnalogIn::Initialize() {
InitializeDefault(HAL_GetNumAnalogInputs(),
HALSIM_RegisterAnalogInAllCallbacks);
}
void HALSimNTProviderAnalogIn::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogInInitialized(chan));
table->GetEntry("avg_bits").SetDouble(HALSIM_GetAnalogInAverageBits(chan));
table->GetEntry("oversample_bits")
.SetDouble(HALSIM_GetAnalogInOversampleBits(chan));
table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogInVoltage(chan));
auto accum = table->GetSubTable("accum");
accum->GetEntry("init?").SetBoolean(
HALSIM_GetAnalogInAccumulatorInitialized(chan));
accum->GetEntry("value").SetDouble(HALSIM_GetAnalogInAccumulatorValue(chan));
accum->GetEntry("count").SetDouble(HALSIM_GetAnalogInAccumulatorCount(chan));
accum->GetEntry("center").SetDouble(
HALSIM_GetAnalogInAccumulatorCenter(chan));
accum->GetEntry("deadband")
.SetDouble(HALSIM_GetAnalogInAccumulatorDeadband(chan));
}
void HALSimNTProviderAnalogIn::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("voltage").AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetAnalogInVoltage(chan, ev.value->GetDouble());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}
void HALSimNTProviderAnalogOut::Initialize() {
InitializeDefault(HAL_GetNumAnalogOutputs(),
HALSIM_RegisterAnalogOutAllCallbacks);
}
void HALSimNTProviderAnalogOut::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogOutInitialized(chan));
table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogOutVoltage(chan));
}

35
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DIO.cpp
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@@ -1,35 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_DIO.h"
#include <hal/Ports.h>
#include <mockdata/DIOData.h>
void HALSimNTProviderDIO::Initialize() {
InitializeDefault(HAL_GetNumDigitalChannels(),
HALSIM_RegisterDIOAllCallbacks);
}
void HALSimNTProviderDIO::OnCallback(uint32_t chan,
std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetDIOInitialized(chan));
table->GetEntry("value").SetBoolean(HALSIM_GetDIOValue(chan));
table->GetEntry("pulse_length").SetDouble(HALSIM_GetDIOPulseLength(chan));
table->GetEntry("input?").SetBoolean(HALSIM_GetDIOIsInput(chan));
}
void HALSimNTProviderDIO::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("value").AddListener(
[=](const nt::EntryNotification& ev) -> void {
if (HALSIM_GetDIOIsInput(chan)) {
HALSIM_SetDIOValue(chan, ev.value->GetBoolean());
}
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}

61
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DriverStation.cpp
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@@ -1,61 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_DriverStation.h"
#include <hal/Ports.h>
#include <mockdata/DriverStationData.h>
void HALSimNTProviderDriverStation::Initialize() {
InitializeDefaultSingle(HALSIM_RegisterDriverStationAllCallbacks);
}
void HALSimNTProviderDriverStation::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
bool auton = HALSIM_GetDriverStationAutonomous(),
test = HALSIM_GetDriverStationTest(),
enabled = HALSIM_GetDriverStationEnabled();
bool teleop = (!auton && !test && enabled);
table->GetEntry("enabled?").SetBoolean(enabled);
table->GetEntry("autonomous?").SetBoolean(auton);
table->GetEntry("test?").SetBoolean(test);
table->GetEntry("teleop?").SetBoolean(teleop);
table->GetEntry("estop?").SetBoolean(HALSIM_GetDriverStationEStop());
table->GetEntry("fms?").SetBoolean(HALSIM_GetDriverStationFmsAttached());
table->GetEntry("ds?").SetBoolean(HALSIM_GetDriverStationDsAttached());
table->GetEntry("match_time").SetDouble(HALSIM_GetDriverStationMatchTime());
// TODO: Joysticks
auto alliance = table->GetSubTable("alliance");
auto allianceValue = HALSIM_GetDriverStationAllianceStationId();
alliance->GetEntry("color").SetString(
(allianceValue == HAL_AllianceStationID_kRed1 ||
allianceValue == HAL_AllianceStationID_kRed2 ||
allianceValue == HAL_AllianceStationID_kRed3)
? "red"
: "blue");
int station = 0;
switch (allianceValue) {
case HAL_AllianceStationID_kRed1:
case HAL_AllianceStationID_kBlue1:
station = 1;
break;
case HAL_AllianceStationID_kRed2:
case HAL_AllianceStationID_kBlue2:
station = 2;
break;
case HAL_AllianceStationID_kRed3:
case HAL_AllianceStationID_kBlue3:
station = 3;
break;
}
alliance->GetEntry("station").SetDouble(station);
}

46
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Encoder.cpp
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@@ -1,46 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_Encoder.h"
#include <hal/Ports.h>
#include <mockdata/EncoderData.h>
void HALSimNTProviderEncoder::Initialize() {
InitializeDefault(HAL_GetNumEncoders(), HALSIM_RegisterEncoderAllCallbacks);
}
void HALSimNTProviderEncoder::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetEncoderInitialized(chan));
table->GetEntry("count").SetDouble(HALSIM_GetEncoderCount(chan));
table->GetEntry("period").SetDouble(HALSIM_GetEncoderPeriod(chan));
table->GetEntry("reset?").SetBoolean(HALSIM_GetEncoderReset(chan));
table->GetEntry("max_period").SetDouble(HALSIM_GetEncoderMaxPeriod(chan));
table->GetEntry("direction").SetBoolean(HALSIM_GetEncoderDirection(chan));
table->GetEntry("reverse_direction?")
.SetBoolean(HALSIM_GetEncoderReverseDirection(chan));
table->GetEntry("samples_to_avg")
.SetDouble(HALSIM_GetEncoderSamplesToAverage(chan));
}
void HALSimNTProviderEncoder::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("count").AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetEncoderCount(chan,
static_cast<int32_t>(ev.value->GetDouble()));
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
table->GetEntry("direction")
.AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetEncoderDirection(chan, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}

25
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_PWM.cpp
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@@ -1,25 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_PWM.h"
#include <hal/Ports.h>
#include <mockdata/PWMData.h>
void HALSimNTProviderPWM::Initialize() {
InitializeDefault(HAL_GetNumPWMChannels(), HALSIM_RegisterPWMAllCallbacks);
}
void HALSimNTProviderPWM::OnCallback(uint32_t chan,
std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetPWMInitialized(chan));
table->GetEntry("speed").SetDouble(HALSIM_GetPWMSpeed(chan));
table->GetEntry("position").SetDouble(HALSIM_GetPWMPosition(chan));
table->GetEntry("raw").SetDouble(HALSIM_GetPWMRawValue(chan));
table->GetEntry("period_scale").SetDouble(HALSIM_GetPWMPeriodScale(chan));
table->GetEntry("zero_latch?").SetBoolean(HALSIM_GetPWMZeroLatch(chan));
}

25
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Relay.cpp
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@@ -1,25 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_Relay.h"
#include <hal/Ports.h>
#include <mockdata/RelayData.h>
void HALSimNTProviderRelay::Initialize() {
InitializeDefault(HAL_GetNumRelayHeaders(), HALSIM_RegisterRelayAllCallbacks);
}
void HALSimNTProviderRelay::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init_fwd?")
.SetBoolean(HALSIM_GetRelayInitializedForward(chan));
table->GetEntry("init_rvs?")
.SetBoolean(HALSIM_GetRelayInitializedReverse(chan));
table->GetEntry("fwd?").SetBoolean(HALSIM_GetRelayForward(chan));
table->GetEntry("rvs?").SetBoolean(HALSIM_GetRelayReverse(chan));
}

51
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_RoboRIO.cpp
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@@ -1,51 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_RoboRIO.h"
#include <hal/Ports.h>
#include <mockdata/RoboRioData.h>
void HALSimNTProviderRoboRIO::Initialize() {
InitializeDefault(1, HALSIM_RegisterRoboRioAllCallbacks);
}
void HALSimNTProviderRoboRIO::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("fpga_button?").SetBoolean(HALSIM_GetRoboRioFPGAButton(chan));
table->GetEntry("vin_voltage").SetDouble(HALSIM_GetRoboRioVInVoltage(chan));
table->GetEntry("vin_current").SetDouble(HALSIM_GetRoboRioVInCurrent(chan));
auto t6v = table->GetSubTable("6V");
t6v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage6V(chan));
t6v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent6V(chan));
t6v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive6V(chan));
t6v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults6V(chan));
auto t5v = table->GetSubTable("5V");
t5v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage5V(chan));
t5v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent5V(chan));
t5v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive5V(chan));
t5v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults5V(chan));
auto t3v3 = table->GetSubTable("3V3");
t3v3->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage3V3(chan));
t3v3->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent3V3(chan));
t3v3->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive3V3(chan));
t3v3->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults3V3(chan));
}
void HALSimNTProviderRoboRIO::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("fpga_button?")
.AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetRoboRioFPGAButton(chan, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}

23
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_dPWM.cpp
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@@ -1,23 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_dPWM.h"
#include <hal/Ports.h>
#include <mockdata/DigitalPWMData.h>
void HALSimNTProviderDigitalPWM::Initialize() {
InitializeDefault(HAL_GetNumDigitalPWMOutputs(),
HALSIM_RegisterDigitalPWMAllCallbacks);
}
void HALSimNTProviderDigitalPWM::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetDigitalPWMInitialized(chan));
table->GetEntry("dio_pin").SetDouble(HALSIM_GetDigitalPWMPin(chan));
table->GetEntry("duty_cycle").SetDouble(HALSIM_GetDigitalPWMDutyCycle(chan));
}

56
simulation/halsim_lowfi/src/main/native/cpp/main.cpp
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@@ -1,56 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <HALSimLowFi.h>
#include <NTProvider_Analog.h>
#include <NTProvider_DIO.h>
#include <NTProvider_DriverStation.h>
#include <NTProvider_Encoder.h>
#include <NTProvider_PWM.h>
#include <NTProvider_Relay.h>
#include <NTProvider_RoboRIO.h>
#include <NTProvider_dPWM.h>
static HALSimLowFi halsim_lowfi;
static HALSimNTProviderPWM pwm_provider;
static HALSimNTProviderDigitalPWM dpwm_provider;
static HALSimNTProviderDIO dio_provider;
static HALSimNTProviderAnalogIn ai_provider;
static HALSimNTProviderAnalogOut ao_provider;
static HALSimNTProviderDriverStation ds_provider;
static HALSimNTProviderEncoder encoder_provider;
static HALSimNTProviderRelay relay_provider;
static HALSimNTProviderRoboRIO roborio_provider;
extern "C" {
#if defined(WIN32) || defined(_WIN32)
__declspec(dllexport)
#endif
int HALSIM_InitExtension(void) {
std::cout << "NetworkTables LowFi Simulator Initializing." << std::endl;
halsim_lowfi.Initialize();
halsim_lowfi.table->GetInstance().StartServer("networktables.ini");
halsim_lowfi.table->GetInstance().SetUpdateRate(0.05);
auto lowfi = std::make_shared<HALSimLowFi>(halsim_lowfi);
pwm_provider.Inject(lowfi, "PWM");
dpwm_provider.Inject(lowfi, "dPWM");
dio_provider.Inject(lowfi, "DIO");
ai_provider.Inject(lowfi, "AI");
ao_provider.Inject(lowfi, "AO");
ds_provider.Inject(lowfi, "DriverStation");
encoder_provider.Inject(lowfi, "Encoder");
relay_provider.Inject(lowfi, "Relay");
roborio_provider.Inject(lowfi, "RoboRIO");
std::cout << "NetworkTables LowFi Simulator Initialized!" << std::endl;
return 0;
}
} // extern "C"

58
simulation/halsim_lowfi/src/main/native/include/HALSimLowFi.h
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@@ -1,58 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <cinttypes>
#include <memory>
#include <string>
#include <vector>
#include <mockdata/NotifyListener.h>
#include <networktables/NetworkTableInstance.h>
class HALSimLowFi {
public:
std::shared_ptr<nt::NetworkTable> table;
void Initialize();
};
typedef void (*HALCbRegisterIndexedFunc)(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
typedef void (*HALCbRegisterSingleFunc)(HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
void NTProviderBaseCallback(const char* name, void* param,
const struct HAL_Value* value);
class HALSimNTProvider {
public:
struct NTProviderCallbackInfo {
HALSimNTProvider* provider;
std::shared_ptr<nt::NetworkTable> table;
int channel;
};
void Inject(std::shared_ptr<HALSimLowFi> parent, std::string table);
// Initialize is called by inject.
virtual void Initialize() = 0;
virtual void InitializeDefault(int numChannels,
HALCbRegisterIndexedFunc registerFunc);
virtual void InitializeDefaultSingle(HALCbRegisterSingleFunc registerFunc);
virtual void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) = 0;
virtual void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table);
int numChannels;
std::string tableName;
std::shared_ptr<HALSimLowFi> parent;
std::shared_ptr<nt::NetworkTable> table;
std::vector<NTProviderCallbackInfo> cbInfos;
};

28
simulation/halsim_lowfi/src/main/native/include/NTProvider_Analog.h
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@@ -1,28 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderAnalogIn : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};
class HALSimNTProviderAnalogOut : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

21
simulation/halsim_lowfi/src/main/native/include/NTProvider_DIO.h
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@@ -1,21 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderDIO : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_DriverStation.h
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@@ -1,19 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderDriverStation : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

21
simulation/halsim_lowfi/src/main/native/include/NTProvider_Encoder.h
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@@ -1,21 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderEncoder : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_PWM.h
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@@ -1,19 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderPWM : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_Relay.h
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@@ -1,19 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderRelay : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

21
simulation/halsim_lowfi/src/main/native/include/NTProvider_RoboRIO.h
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@@ -1,21 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderRoboRIO : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_dPWM.h
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@@ -1,19 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderDigitalPWM : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

16
simulation/halsim_print/CMakeLists.txt
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@@ -1,16 +0,0 @@
project(halsim_print)
include(CompileWarnings)
file(GLOB halsim_print_src src/main/native/cpp/*.cpp)
add_library(halsim_print MODULE ${halsim_print_src})
wpilib_target_warnings(halsim_print)
set_target_properties(halsim_print PROPERTIES DEBUG_POSTFIX "d")
target_link_libraries(halsim_print PUBLIC hal)
target_include_directories(halsim_print PRIVATE src/main/native/include)
set_property(TARGET halsim_print PROPERTY FOLDER "libraries")
install(TARGETS halsim_print EXPORT halsim_print DESTINATION "${main_lib_dest}")

7
simulation/halsim_print/build.gradle
View File

@@ -1,7 +0,0 @@
description = "A simulation shared object that simply prints robot behaviors"
ext {
pluginName = 'halsim_print'
}
apply from: "${rootDir}/shared/plugins/setupBuild.gradle"

16
simulation/halsim_print/src/dev/native/cpp/main.cpp
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@@ -1,16 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <chrono>
#include <thread>
#include <hal/HALBase.h>
int main() {
HAL_Initialize(500, 0);
std::this_thread::sleep_for(std::chrono::seconds(2));
}

29
simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp
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@@ -1,29 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "PrintPWM.h"
#include <iostream>
#include <hal/Value.h>
#include <mockdata/NotifyListener.h>
#include <mockdata/PWMData.h>
static void PWMCallback(const char* name, void* param,
const struct HAL_Value* value) {
auto pwm = static_cast<PrintPWM*>(param);
pwm->Publish(value->data.v_double);
}
PrintPWM::PrintPWM(int port) {
m_port = port;
HALSIM_RegisterPWMSpeedCallback(port, PWMCallback, this, false);
}
void PrintPWM::Publish(double value) {
std::cout << "PWM " << m_port << ": " << value << std::endl;
}

32
simulation/halsim_print/src/main/native/cpp/main.cpp
View File

@@ -1,32 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <hal/Ports.h>
#include "HALSimPrint.h"
#include "PrintPWM.h"
// Currently, robots never terminate, so we keep a single static object and it
// is never properly released or cleaned up.
static HALSimPrint halsim;
extern "C" {
#if defined(WIN32) || defined(_WIN32)
__declspec(dllexport)
#endif
int HALSIM_InitExtension(void) {
std::cout << "Print Simulator Initializing." << std::endl;
int pwmCount = HAL_GetNumPWMChannels();
halsim.m_pwms.reserve(pwmCount);
for (int i = 0; i < pwmCount; i++) halsim.m_pwms.emplace_back(i);
return 0;
}
} // extern "C"

17
simulation/halsim_print/src/main/native/include/HALSimPrint.h
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@@ -1,17 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <vector>
class PrintPWM;
class HALSimPrint {
public:
std::vector<PrintPWM> m_pwms;
};

19
simulation/halsim_print/src/main/native/include/PrintPWM.h
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@@ -1,19 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "HALSimPrint.h"
class PrintPWM {
public:
explicit PrintPWM(int port);
void Publish(double value);
private:
int m_port;
};

194
simulation/lowfi_simulation/build.gradle
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@@ -1,194 +0,0 @@
apply plugin: 'cpp'
apply plugin: 'google-test-test-suite'
apply plugin: 'visual-studio'
apply plugin: 'edu.wpi.first.NativeUtils'
apply plugin: SingleNativeBuild
apply plugin: ExtraTasks
ext {
nativeName = 'lowfi_sim'
}
apply from: "${rootDir}/shared/config.gradle"
if (!project.hasProperty('onlylinuxathena')) {
ext.skiplinuxathena = true
ext {
sharedCvConfigs = [lowfi_simTest: []]
staticCvConfigs = [:]
useJava = false
useCpp = true
}
apply from: "${rootDir}/shared/opencv.gradle"
ext {
staticGtestConfigs = [:]
}
staticGtestConfigs["${nativeName}Test"] = []
apply from: "${rootDir}/shared/googletest.gradle"
project(':').libraryBuild.dependsOn build
nativeUtils.exportsConfigs {
lowfi_sim {
x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
'_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
'_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
'_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
'_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
'_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
'_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
}
}
model {
components {
"${nativeName}Base"(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs = ['src/main/native/cpp']
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/native/include'
}
}
}
binaries.all {
if (it instanceof SharedLibraryBinarySpec) {
it.buildable = false
return
}
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
}
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
}
"${nativeName}"(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs "${rootDir}/shared/singlelib"
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/native/include'
}
}
}
binaries.all {
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
}
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
}
// By default, a development executable will be generated. This is to help the case of
// testing specific functionality of the library.
"${nativeName}Dev"(NativeExecutableSpec) {
targetBuildTypes 'debug'
sources {
cpp {
source {
srcDirs 'src/dev/native/cpp'
include '**/*.cpp'
lib library: "${nativeName}"
}
exportedHeaders {
srcDirs 'src/dev/native/include'
}
}
}
binaries.all {
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
}
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib library: nativeName, linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
}
}
}
}
binaries {
withType(GoogleTestTestSuiteBinarySpec) {
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
lib project: ':cscore', library: 'cscore', linkage: 'shared'
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib library: nativeName, linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
}
}
}
}
apply from: "publish.gradle"
}
model {
testSuites {
if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
"${nativeName}Test"(GoogleTestTestSuiteSpec) {
for(NativeComponentSpec c : $.components) {
if (c.name == nativeName) {
testing c
break
}
}
sources {
cpp {
source {
srcDirs 'src/test/native/cpp'
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/test/native/include', 'src/main/native/cpp'
}
}
}
}
}
}
tasks {
def c = $.components
project.tasks.create('runCpp', Exec) {
def found = false
c.each {
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
def arch = it.targetPlatform.architecture.name
if (arch == 'x86-64' || arch == 'x86') {
dependsOn it.tasks.install
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
found = true
}
}
}
}
}
}
}
}
tasks.withType(RunTestExecutable) {
args "--gtest_output=xml:test_detail.xml"
outputs.dir outputDir
}

64
simulation/lowfi_simulation/publish.gradle
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@@ -1,64 +0,0 @@
apply plugin: 'maven-publish'
def baseArtifactId = nativeName
def artifactGroupId = 'edu.wpi.first.halsim'
def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${nativeName}_CLS"
def outputsFolder = file("$project.buildDir/outputs")
task cppSourcesZip(type: Zip) {
destinationDirectory = outputsFolder
archiveBaseName = zipBaseName
classifier = "sources"
from(licenseFile) {
into '/'
}
from('src/main/native/cpp') {
into '/'
}
}
task cppHeadersZip(type: Zip) {
destinationDirectory = outputsFolder
archiveBaseName = zipBaseName
classifier = "headers"
from(licenseFile) {
into '/'
}
from('src/main/native/include') {
into '/'
}
}
build.dependsOn cppSourcesZip
build.dependsOn cppHeadersZip
addTaskToCopyAllOutputs(cppSourcesZip)
addTaskToCopyAllOutputs(cppHeadersZip)
model {
publishing {
def lowfiSimTaskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
publications {
cpp(MavenPublication) {
lowfiSimTaskList.each {
artifact it
}
artifact cppHeadersZip
artifact cppSourcesZip
artifactId = baseArtifactId
groupId artifactGroupId
version wpilibVersioning.version.get()
}
}
}
}

15
simulation/lowfi_simulation/src/dev/native/cpp/main.cpp
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@@ -1,15 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <hal/HALBase.h>
int main() {
std::cout << "Hello World" << std::endl;
std::cout << HAL_GetRuntimeType() << std::endl;
}

25
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/MotorEncoderConnector.cpp
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@@ -1,25 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "lowfisim/MotorEncoderConnector.h"
namespace frc {
namespace sim {
namespace lowfi {
MotorEncoderConnector::MotorEncoderConnector(MotorSim& motorController,
EncoderSim& encoder)
: motorSimulator(motorController), encoderSimulator(encoder) {}
void MotorEncoderConnector::Update() {
encoderSimulator.SetPosition(motorSimulator.GetPosition());
encoderSimulator.SetVelocity(motorSimulator.GetVelocity());
}
} // namespace lowfi
} // namespace sim
} // namespace frc

24
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/SimulatorComponentBase.cpp
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@@ -1,24 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
const std::string& SimulatorComponentBase::GetDisplayName() const {
return m_name;
}
void SimulatorComponentBase::SetDisplayName(const std::string& displayName) {
m_name = displayName;
}
} // namespace lowfi
} // namespace sim
} // namespace frc

40
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/motormodel/SimpleMotorModel.cpp
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@@ -1,40 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "lowfisim/motormodel/SimpleMotorModel.h"
namespace frc {
namespace sim {
namespace lowfi {
SimpleMotorModel::SimpleMotorModel(double maxSpeed) : m_maxSpeed(maxSpeed) {}
void SimpleMotorModel::Reset() {
m_position = 0;
m_velocity = 0;
}
void SimpleMotorModel::SetVoltage(double voltage) {
m_voltagePercentage = voltage / kMaxExpectedVoltage;
}
void SimpleMotorModel::Update(double elapsedTime) {
m_velocity = m_maxSpeed * m_voltagePercentage;
m_position += m_velocity * elapsedTime;
}
double SimpleMotorModel::GetPosition() const { return m_position; }
double SimpleMotorModel::GetVelocity() const { return m_velocity; }
double SimpleMotorModel::GetAcceleration() const { return 0; }
double SimpleMotorModel::GetCurrent() const { return 0; }
} // namespace lowfi
} // namespace sim
} // namespace frc

28
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp
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@@ -1,28 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "lowfisim/wpisimulators/WpiAnalogGyroSim.h"
namespace frc {
namespace sim {
namespace lowfi {
WpiAnalogGyroSim::WpiAnalogGyroSim(int index) : m_gyroSimulator(index) {}
bool WpiAnalogGyroSim::IsWrapperInitialized() const {
return m_gyroSimulator.GetInitialized();
}
void WpiAnalogGyroSim::SetAngle(double angle) {
m_gyroSimulator.SetAngle(angle);
}
double WpiAnalogGyroSim::GetAngle() { return m_gyroSimulator.GetAngle(); }
} // namespace lowfi
} // namespace sim
} // namespace frc

31
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiEncoderSim.cpp
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@@ -1,31 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "lowfisim/wpisimulators/WpiEncoderSim.h"
namespace frc {
namespace sim {
namespace lowfi {
WpiEncoderSim::WpiEncoderSim(int index) : m_encoderSimulator(index) {}
bool WpiEncoderSim::IsWrapperInitialized() const {
return m_encoderSimulator.GetInitialized();
}
void WpiEncoderSim::SetPosition(double position) {
m_encoderSimulator.SetCount(
static_cast<int>(position / m_encoderSimulator.GetDistancePerPulse()));
}
void WpiEncoderSim::SetVelocity(double velocity) {
m_encoderSimulator.SetPeriod(1.0 / velocity);
}
} // namespace lowfi
} // namespace sim
} // namespace frc

41
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiMotorSim.cpp
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@@ -1,41 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "lowfisim/wpisimulators/WpiMotorSim.h"
namespace frc {
namespace sim {
namespace lowfi {
WpiMotorSim::WpiMotorSim(int index, MotorModel& motorModelSimulator)
: m_motorModelSimulation(motorModelSimulator), m_pwmSimulator(index) {}
void WpiMotorSim::Update(double elapsedTime) {
m_motorModelSimulation.SetVoltage(m_pwmSimulator.GetSpeed() *
kDefaultVoltage);
m_motorModelSimulation.Update(elapsedTime);
}
bool WpiMotorSim::IsWrapperInitialized() const {
return m_pwmSimulator.GetInitialized();
}
double WpiMotorSim::GetPosition() const {
return m_motorModelSimulation.GetPosition();
}
double WpiMotorSim::GetVelocity() const {
return m_motorModelSimulation.GetVelocity();
}
double WpiMotorSim::GetAcceleration() const {
return m_motorModelSimulation.GetAcceleration();
}
} // namespace lowfi
} // namespace sim
} // namespace frc

24
simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
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@@ -1,24 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
class AccelerometerSim : public SimulatorComponentBase {
public:
virtual double GetAcceleration() = 0;
virtual void SetAcceleration(double acceleration) = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

24
simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
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@@ -1,24 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
class EncoderSim : public SimulatorComponentBase {
public:
virtual void SetPosition(double position) = 0;
virtual void SetVelocity(double velocity) = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

24
simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
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@@ -1,24 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
class GyroSim : public SimulatorComponentBase {
public:
virtual void SetAngle(double angle) = 0;
virtual double GetAngle() = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

30
simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorEncoderConnector.h
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@@ -1,30 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "EncoderSim.h"
#include "MotorSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class MotorEncoderConnector {
public:
MotorEncoderConnector(MotorSim& motorController, EncoderSim& encoder);
void Update();
private:
MotorSim& motorSimulator;
EncoderSim& encoderSimulator;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

25
simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
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@@ -1,25 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
class MotorSim : public SimulatorComponentBase {
public:
virtual double GetPosition() const = 0;
virtual double GetVelocity() const = 0;
virtual double GetAcceleration() const = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

44
simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
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@@ -1,44 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <functional>
#include "lowfisim/AccelerometerSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class SimpleAccelerometerSim : public AccelerometerSim {
public:
SimpleAccelerometerSim(const std::function<bool(void)>& initializedFunction,
const std::function<void(double)>& setterFunction,
const std::function<double(void)>& getterFunction)
: m_isInitializedFunction(initializedFunction),
m_setAccelerationFunction(setterFunction),
m_getAccelerationFunction(getterFunction) {}
double GetAcceleration() override { return m_getAccelerationFunction(); }
void SetAcceleration(double acceleration) override {
m_setAccelerationFunction(acceleration);
}
bool IsWrapperInitialized() const override {
return m_isInitializedFunction();
}
private:
std::function<bool(void)> m_isInitializedFunction;
std::function<void(double)> m_setAccelerationFunction;
std::function<double(void)> m_getAccelerationFunction;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

35
simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h
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@@ -1,35 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <functional>
#include "lowfisim/GyroSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class SimpleGyroSim : public GyroSim {
public:
SimpleGyroSim(std::function<void(double)>& setterFunction,
std::function<double(void)>& getterFunction)
: m_setAngleFunction(setterFunction),
m_getAngleFunction(getterFunction) {}
double GetAngle() override { return m_getAngleFunction(); }
void SetAngle(double angle) override { m_setAngleFunction(angle); }
private:
std::function<void(double)> m_setAngleFunction;
std::function<double(void)> m_getAngleFunction;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

29
simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h
View File

@@ -1,29 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <string>
namespace frc {
namespace sim {
namespace lowfi {
class SimulatorComponent {
public:
virtual ~SimulatorComponent() = default;
virtual bool IsWrapperInitialized() const = 0;
virtual const std::string& GetDisplayName() const = 0;
virtual void SetDisplayName(const std::string& displayName) = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

33
simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h
View File

@@ -1,33 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <string>
#include "lowfisim/SimulatorComponent.h"
namespace frc {
namespace sim {
namespace lowfi {
class SimulatorComponentBase : public virtual SimulatorComponent {
public:
SimulatorComponentBase() = default;
virtual ~SimulatorComponentBase() = default;
const std::string& GetDisplayName() const override;
void SetDisplayName(const std::string& displayName) override;
private:
std::string m_name;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

28
simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/MotorModel.h
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@@ -1,28 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
namespace frc {
namespace sim {
namespace lowfi {
class MotorModel {
public:
virtual void Reset() = 0;
virtual void SetVoltage(double voltage) = 0;
virtual void Update(double elapsedTime) = 0;
virtual double GetPosition() const = 0;
virtual double GetVelocity() const = 0;
virtual double GetAcceleration() const = 0;
virtual double GetCurrent() const = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

40
simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/SimpleMotorModel.h
View File

@@ -1,40 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/motormodel/MotorModel.h"
namespace frc {
namespace sim {
namespace lowfi {
class SimpleMotorModel : public MotorModel {
public:
explicit SimpleMotorModel(double maxSpeed);
void Reset() override;
void SetVoltage(double voltage) override;
void Update(double elapsedTime) override;
double GetPosition() const override;
double GetVelocity() const override;
double GetAcceleration() const override;
double GetCurrent() const override;
protected:
double m_maxSpeed;
double m_voltagePercentage{0};
double m_position{0};
double m_velocity{0};
static constexpr double kMaxExpectedVoltage = 12;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

32
simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
View File

@@ -1,32 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/GyroSim.h"
#include "simulation/AnalogGyroSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class WpiAnalogGyroSim : public GyroSim {
public:
explicit WpiAnalogGyroSim(int index);
bool IsWrapperInitialized() const override;
void SetAngle(double angle) override;
double GetAngle() override;
protected:
frc::sim::AnalogGyroSim m_gyroSimulator;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

31
simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h
View File

@@ -1,31 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/EncoderSim.h"
#include "simulation/EncoderSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class WpiEncoderSim : public EncoderSim {
public:
explicit WpiEncoderSim(int index);
bool IsWrapperInitialized() const override;
void SetPosition(double position) override;
void SetVelocity(double velocity) override;
protected:
frc::sim::EncoderSim m_encoderSimulator;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

37
simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h
View File

@@ -1,37 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "lowfisim/MotorSim.h"
#include "lowfisim/motormodel/MotorModel.h"
#include "simulation/PWMSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class WpiMotorSim : public MotorSim {
public:
explicit WpiMotorSim(int index, MotorModel& motorModelSimulator);
bool IsWrapperInitialized() const override;
void Update(double elapsedTime);
double GetPosition() const override;
double GetVelocity() const override;
double GetAcceleration() const override;
private:
MotorModel& m_motorModelSimulation;
frc::sim::PWMSim m_pwmSimulator;
static constexpr double kDefaultVoltage = 12.0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

110
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/MotorEncoderSimulatorTest.cpp
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@@ -1,110 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/Encoder.h"
#include "frc/Talon.h"
#include "gtest/gtest.h"
#include "lowfisim/MotorEncoderConnector.h"
#include "lowfisim/motormodel/SimpleMotorModel.h"
#include "lowfisim/wpisimulators/WpiEncoderSim.h"
#include "lowfisim/wpisimulators/WpiMotorSim.h"
TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseFullSpeed) {
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
EXPECT_FALSE(motorSim.IsWrapperInitialized());
EXPECT_FALSE(encoderSim.IsWrapperInitialized());
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
EXPECT_TRUE(motorSim.IsWrapperInitialized());
EXPECT_TRUE(encoderSim.IsWrapperInitialized());
talon.Set(-1);
motorSim.Update(1);
connector.Update();
// Position
EXPECT_EQ(-6000, encoder.Get());
EXPECT_DOUBLE_EQ(-6000, encoder.GetDistance());
// Velocity
EXPECT_DOUBLE_EQ(-1.0 / 6000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(-6000, encoder.GetRate());
}
TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseRealisitcUpdate) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
talon.Set(0.5);
motorSim.Update(0.02);
connector.Update();
// Position
EXPECT_EQ(60, encoder.Get());
EXPECT_DOUBLE_EQ(60, encoder.GetDistance());
// Velocity
EXPECT_DOUBLE_EQ(1.0 / 3000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(3000, encoder.GetRate());
}
TEST(MotorEncoderConnectorTest, TestWithDistancePerPulseFullSpeed) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
encoder.SetDistancePerPulse(0.001);
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
talon.Set(-1);
motorSim.Update(1);
connector.Update();
// Position
EXPECT_EQ(-6000000, encoder.Get());
EXPECT_DOUBLE_EQ(-6000, encoder.GetDistance());
// Velocity
EXPECT_EQ(-1.0 / 6000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(-6, encoder.GetRate());
}
TEST(MotorEncoderConnectorTest, TestWithDistancePerPulseRealistic) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
encoder.SetDistancePerPulse(0.001);
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
talon.Set(0.5);
motorSim.Update(0.02);
connector.Update();
// Position
EXPECT_EQ(60000, encoder.Get());
EXPECT_DOUBLE_EQ(60, encoder.GetDistance());
// Velocity
EXPECT_EQ(1.0 / 3000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(3, encoder.GetRate());
}

33
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/motormodel/SimpleMotorModelSimulationTest.cpp
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@@ -1,33 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "gtest/gtest.h"
#include "lowfisim/motormodel/SimpleMotorModel.h"
TEST(SimpleMotorModelSimulationTest, TestSimpleModel) {
frc::sim::lowfi::SimpleMotorModel motorModelSim(200);
// Test forward voltage
motorModelSim.SetVoltage(6);
motorModelSim.Update(0.5);
EXPECT_DOUBLE_EQ(50, motorModelSim.GetPosition());
EXPECT_DOUBLE_EQ(100, motorModelSim.GetVelocity());
// Test Reset
motorModelSim.Reset();
EXPECT_DOUBLE_EQ(0, motorModelSim.GetPosition());
EXPECT_DOUBLE_EQ(0, motorModelSim.GetVelocity());
// Test negative voltage
motorModelSim.Reset();
motorModelSim.SetVoltage(-3);
motorModelSim.Update(0.06);
EXPECT_DOUBLE_EQ(-3, motorModelSim.GetPosition());
EXPECT_DOUBLE_EQ(-50, motorModelSim.GetVelocity());
}

17
simulation/lowfi_simulation/src/test/native/cpp/main.cpp
View File

@@ -1,17 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <hal/HALBase.h>
#include "gtest/gtest.h"
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}

36
wpilibcExamples/build.gradle
View File

@@ -89,11 +89,6 @@ model {
project(':hal').addHalDependency(binary, 'shared')
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
if (binary.targetPlatform.name != nativeUtils.wpi.platforms.roborio) {
lib project: ':simulation:halsim_lowfi', library: 'halsim_lowfi', linkage: 'shared'
lib project: ':simulation:halsim_print', library: 'halsim_print', linkage: 'shared'
lib project: ':simulation:halsim_ds_nt', library: 'halsim_ds_nt', linkage: 'shared'
}
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
}
@@ -143,11 +138,6 @@ model {
cppCompiler.args "/wd4996"
}
}
if (binary.targetPlatform.name != nativeUtils.wpi.platforms.roborio) {
lib project: ':simulation:halsim_lowfi', library: 'halsim_lowfi', linkage: 'shared'
lib project: ':simulation:halsim_print', library: 'halsim_print', linkage: 'shared'
lib project: ':simulation:halsim_ds_nt', library: 'halsim_ds_nt', linkage: 'shared'
}
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
}
@@ -177,41 +167,19 @@ model {
binary.tasks.install.doLast {
if (binary.targetPlatform.operatingSystem.isWindows()) {
// Windows batch scripts
def fileName = binary.component.name + 'LowFi.bat'
def file = new File(installDir + fileName)
file.withWriter { out ->
out.println '@ECHO OFF'
out.print 'SET HALSIM_EXTENSIONS='
out.print '"' + new File(installDir + 'lib\\halsim_lowfi.dll').toString() + '";'
out.println '"' + new File(installDir + 'lib\\halsim_ds_nt.dll').toString() + '"'
out.println runFile + ' %*'
}
fileName = binary.component.name + 'LowFiRealDS.bat'
fileName = binary.component.name + 'RealDS.bat'
file = new File(installDir + fileName)
file.withWriter { out ->
out.println '@ECHO OFF'
out.print 'SET HALSIM_EXTENSIONS='
out.print '"' + new File(installDir + 'lib\\halsim_lowfi.dll').toString() + '";'
out.println '"' + new File(installDir + 'lib\\halsim_ds_socket.dll').toString() + '"'
out.println runFile + ' %*'
}
} else {
def fileName = binary.component.name + 'LowFi.sh'
def file = new File(installDir + fileName)
file.withWriter { out ->
out.print 'export HALSIM_EXTENSIONS='
out.print '"' + new File(installDir + '/lib/libhalsim_lowfi.so').toString() + '";'
out.println '"' + new File(installDir + '/lib/libhalsim_ds_nt.so').toString() + '"'
out.println runFile + ' "$@"'
}
fileName = binary.component.name + 'LowFiRealDS.sh'
fileName = binary.component.name + 'RealDS.sh'
file = new File(installDir + fileName)
file.withWriter { out ->
out.print 'export HALSIM_EXTENSIONS='
out.print '"' + new File(installDir + '/lib/libhalsim_lowfi.so').toString() + '":'
out.println '"' + new File(installDir + '/lib/libhalsim_ds_socket.so').toString() + '"'
out.println runFile + ' "$@"'
}