[hal] Add a unified PCM object (#3331)

hal/src/main/native/sim/mockdata/CTREPCMData.cpp

@@ -0,0 +1,83 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "../PortsInternal.h"
+#include "CTREPCMDataInternal.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializeCTREPCMData() {
+  static CTREPCMData spd[kNumCTREPCMModules];
+  ::hal::SimCTREPCMData = spd;
+}
+}  // namespace hal::init
+
+CTREPCMData* hal::SimCTREPCMData;
+void CTREPCMData::ResetData() {
+  for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+    solenoidOutput[i].Reset(false);
+  }
+  initialized.Reset(false);
+  compressorOn.Reset(false);
+  closedLoopEnabled.Reset(true);
+  pressureSwitch.Reset(false);
+  compressorCurrent.Reset(0.0);
+}
+
+extern "C" {
+void HALSIM_ResetCTREPCMData(int32_t index) {
+  SimCTREPCMData[index].ResetData();
+}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME)                  \
+  HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, CTREPCM##CAPINAME, \
+                               SimCTREPCMData, LOWERNAME)
+
+HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, CTREPCMSolenoidOutput,
+                                     SimCTREPCMData, solenoidOutput)
+DEFINE_CAPI(HAL_Bool, Initialized, initialized)
+DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
+DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
+
+void HALSIM_GetCTREPCMAllSolenoids(int32_t index, uint8_t* values) {
+  auto& data = SimCTREPCMData[index].solenoidOutput;
+  uint8_t ret = 0;
+  for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+    ret |= (data[i] << i);
+  }
+  *values = ret;
+}
+
+void HALSIM_SetCTREPCMAllSolenoids(int32_t index, uint8_t values) {
+  auto& data = SimCTREPCMData[index].solenoidOutput;
+  for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+    data[i] = (values & 0x1) != 0;
+    values >>= 1;
+  }
+}
+
+#define REGISTER(NAME) \
+  SimCTREPCMData[index].NAME.RegisterCallback(callback, param, initialNotify)
+
+void HALSIM_RegisterCTREPCMAllNonSolenoidCallbacks(int32_t index,
+                                                   HAL_NotifyCallback callback,
+                                                   void* param,
+                                                   HAL_Bool initialNotify) {
+  REGISTER(initialized);
+  REGISTER(compressorOn);
+  REGISTER(closedLoopEnabled);
+  REGISTER(pressureSwitch);
+  REGISTER(compressorCurrent);
+}
+
+void HALSIM_RegisterCTREPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
+                                                HAL_NotifyCallback callback,
+                                                void* param,
+                                                HAL_Bool initialNotify) {
+  REGISTER(solenoidOutput[channel]);
+}
+}  // extern "C"