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

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This commit is contained in:
Thad House
2021-06-05 22:36:39 -07:00
committed by GitHub
parent dea841103d
commit 0e702eb799
103 changed files with 2643 additions and 5676 deletions
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64
simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
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@@ -13,7 +13,7 @@
#include <hal/Ports.h>
#include <hal/Value.h>
#include <hal/simulation/PCMData.h>
#include <hal/simulation/CTREPCMData.h>
#include "HALDataSource.h"
#include "HALSimGui.h"
@@ -22,11 +22,11 @@
using namespace halsimgui;
namespace {
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(PCMCompressorOn, "Compressor On");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(PCMClosedLoopEnabled, "Closed Loop");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(PCMPressureSwitch, "Pressure Switch");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PCMCompressorCurrent, "Comp Current");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(PCMSolenoidOutput, "Solenoid");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(CTREPCMCompressorOn, "Compressor On");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(CTREPCMClosedLoopEnabled, "Closed Loop");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(CTREPCMPressureSwitch, "Pressure Switch");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(CTREPCMCompressorCurrent, "Comp Current");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(CTREPCMSolenoidOutput, "Solenoid");
class CompressorSimModel : public glass::CompressorModel {
public:
@@ -39,7 +39,7 @@ class CompressorSimModel : public glass::CompressorModel {
void Update() override {}
bool Exists() override { return HALSIM_GetPCMCompressorInitialized(m_index); }
bool Exists() override { return HALSIM_GetCTREPCMInitialized(m_index); }
glass::DataSource* GetRunningData() override { return &m_running; }
glass::DataSource* GetEnabledData() override { return &m_enabled; }
@@ -49,24 +49,24 @@ class CompressorSimModel : public glass::CompressorModel {
glass::DataSource* GetCurrentData() override { return &m_current; }
void SetRunning(bool val) override {
HALSIM_SetPCMCompressorOn(m_index, val);
HALSIM_SetCTREPCMCompressorOn(m_index, val);
}
void SetEnabled(bool val) override {
HALSIM_SetPCMClosedLoopEnabled(m_index, val);
HALSIM_SetCTREPCMClosedLoopEnabled(m_index, val);
}
void SetPressureSwitch(bool val) override {
HALSIM_SetPCMPressureSwitch(m_index, val);
HALSIM_SetCTREPCMPressureSwitch(m_index, val);
}
void SetCurrent(double val) override {
HALSIM_SetPCMCompressorCurrent(m_index, val);
HALSIM_SetCTREPCMCompressorCurrent(m_index, val);
}
private:
int32_t m_index;
PCMCompressorOnSource m_running;
PCMClosedLoopEnabledSource m_enabled;
PCMPressureSwitchSource m_pressureSwitch;
PCMCompressorCurrentSource m_current;
CTREPCMCompressorOnSource m_running;
CTREPCMClosedLoopEnabledSource m_enabled;
CTREPCMPressureSwitchSource m_pressureSwitch;
CTREPCMCompressorCurrentSource m_current;
};
class SolenoidSimModel : public glass::SolenoidModel {
@@ -76,20 +76,18 @@ class SolenoidSimModel : public glass::SolenoidModel {
void Update() override {}
bool Exists() override {
return HALSIM_GetPCMSolenoidInitialized(m_index, m_channel);
}
bool Exists() override { return HALSIM_GetCTREPCMInitialized(m_index); }
glass::DataSource* GetOutputData() override { return &m_output; }
void SetOutput(bool val) override {
HALSIM_SetPCMSolenoidOutput(m_index, m_channel, val);
HALSIM_SetCTREPCMSolenoidOutput(m_index, m_channel, val);
}
private:
int32_t m_index;
int32_t m_channel;
PCMSolenoidOutputSource m_output;
CTREPCMSolenoidOutputSource m_output;
};
class PCMSimModel : public glass::PCMModel {
@@ -120,7 +118,7 @@ class PCMSimModel : public glass::PCMModel {
class PCMsSimModel : public glass::PCMsModel {
public:
PCMsSimModel() : m_models(HAL_GetNumPCMModules()) {}
PCMsSimModel() : m_models(HAL_GetNumCTREPCMModules()) {}
void Update() override;
@@ -139,7 +137,7 @@ void PCMSimModel::Update() {
m_solenoidInitCount = 0;
for (int32_t i = 0; i < numChannels; ++i) {
auto& model = m_solenoids[i];
if (HALSIM_GetPCMSolenoidInitialized(m_index, i)) {
if (HALSIM_GetCTREPCMInitialized(m_index)) {
if (!model) {
model = std::make_unique<SolenoidSimModel>(m_index, i);
}
@@ -167,8 +165,7 @@ void PCMsSimModel::Update() {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
auto& model = m_models[i];
if (HALSIM_GetPCMCompressorInitialized(i) ||
HALSIM_GetPCMAnySolenoidInitialized(i)) {
if (HALSIM_GetCTREPCMInitialized(i)) {
if (!model) {
model = std::make_unique<PCMSimModel>(i);
}
@@ -181,8 +178,8 @@ void PCMsSimModel::Update() {
void PCMsSimModel::ForEachPCM(
wpi::function_ref<void(glass::PCMModel& model, int index)> func) {
int32_t numPCMs = m_models.size();
for (int32_t i = 0; i < numPCMs; ++i) {
int32_t numCTREPCMs = m_models.size();
for (int32_t i = 0; i < numCTREPCMs; ++i) {
if (auto model = m_models[i].get()) {
func(*model, i);
}
@@ -190,10 +187,9 @@ void PCMsSimModel::ForEachPCM(
}
static bool PCMsAnyInitialized() {
static const int32_t num = HAL_GetNumPCMModules();
static const int32_t num = HAL_GetNumCTREPCMModules();
for (int32_t i = 0; i < num; ++i) {
if (HALSIM_GetPCMCompressorInitialized(i) ||
HALSIM_GetPCMAnySolenoidInitialized(i)) {
if (HALSIM_GetCTREPCMInitialized(i)) {
return true;
}
}
@@ -201,16 +197,16 @@ static bool PCMsAnyInitialized() {
}
void PCMSimGui::Initialize() {
HALSimGui::halProvider.RegisterModel("PCMs", PCMsAnyInitialized, [] {
HALSimGui::halProvider.RegisterModel("CTREPCMs", PCMsAnyInitialized, [] {
return std::make_unique<PCMsSimModel>();
});
HALSimGui::halProvider.RegisterView(
"Solenoids", "PCMs",
"Solenoids", "CTREPCMs",
[](glass::Model* model) {
bool any = false;
static_cast<PCMsSimModel*>(model)->ForEachPCM(
[&](glass::PCMModel& pcm, int) {
if (static_cast<PCMSimModel*>(&pcm)->GetNumSolenoids() > 0) {
[&](glass::PCMModel& CTREPCM, int) {
if (static_cast<PCMSimModel*>(&CTREPCM)->GetNumSolenoids() > 0) {
any = true;
}
});
@@ -227,7 +223,7 @@ void PCMSimGui::Initialize() {
});
SimDeviceGui::GetDeviceTree().Add(
HALSimGui::halProvider.GetModel("PCMs"), [](glass::Model* model) {
HALSimGui::halProvider.GetModel("CTREPCMs"), [](glass::Model* model) {
glass::DisplayCompressorsDevice(
static_cast<PCMsSimModel*>(model),
HALSimGui::halProvider.AreOutputsEnabled());