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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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49
wpilibc/src/main/native/include/frc/simulation/PCMSim.h → wpilibc/src/main/native/include/frc/simulation/CTREPCMSim.h
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@@ -6,6 +6,7 @@
#include <memory>
#include "frc/PneumaticsBase.h"
#include "frc/simulation/CallbackStore.h"
namespace frc {
@@ -17,26 +18,21 @@ namespace sim {
/**
* Class to control a simulated Pneumatic Control Module (PCM).
*/
class PCMSim {
class CTREPCMSim {
public:
/**
* Constructs with the default PCM module number (CAN ID).
*/
PCMSim();
CTREPCMSim();
/**
* Constructs from a PCM module number (CAN ID).
*
* @param module module number
*/
explicit PCMSim(int module);
explicit CTREPCMSim(int module);
/**
* Constructs from a Compressor object.
*
* @param compressor Compressor connected to PCM to simulate
*/
explicit PCMSim(const Compressor& compressor);
explicit CTREPCMSim(const PneumaticsBase& pneumatics);
/**
* Register a callback to be run when a solenoid is initialized on a channel.
@@ -46,17 +42,15 @@ class PCMSim {
* @param initialNotify should the callback be run with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]] std::unique_ptr<CallbackStore>
RegisterSolenoidInitializedCallback(int channel, NotifyCallback callback,
bool initialNotify);
[[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check if a solenoid has been initialized on a specific channel.
*
* @param channel the channel to check
* @return true if initialized
*/
bool GetSolenoidInitialized(int channel) const;
bool GetInitialized() const;
/**
* Define whether a solenoid has been initialized on a specific channel.
@@ -64,7 +58,7 @@ class PCMSim {
* @param channel the channel
* @param solenoidInitialized is there a solenoid initialized on that channel
*/
void SetSolenoidInitialized(int channel, bool solenoidInitialized);
void SetInitialized(bool solenoidInitialized);
/**
* Register a callback to be run when the solenoid output on a channel
@@ -94,31 +88,6 @@ class PCMSim {
*/
void SetSolenoidOutput(int channel, bool solenoidOutput);
/**
* Register a callback to be run when the compressor is initialized.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]] std::unique_ptr<CallbackStore>
RegisterCompressorInitializedCallback(NotifyCallback callback,
bool initialNotify);
/**
* Check whether the compressor has been initialized.
*
* @return true if initialized
*/
bool GetCompressorInitialized() const;
/**
* Define whether the compressor has been initialized.
*
* @param compressorInitialized whether the compressor is initialized
*/
void SetCompressorInitialized(bool compressorInitialized);
/**
* Register a callback to be run when the compressor activates.
*

116
wpilibc/src/main/native/include/frc/simulation/DoubleSolenoidSim.h
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@@ -1,116 +0,0 @@
// 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.
#pragma once
#include <memory>
#include "frc/DoubleSolenoid.h"
#include "frc/simulation/CallbackStore.h"
#include "frc/simulation/PCMSim.h"
namespace frc::sim {
/**
* Class to control a simulated Pneumatic Control Module (PCM).
*/
class DoubleSolenoidSim {
public:
/**
* Constructs for a solenoid on the default PCM.
*
* @param channel the solenoid channel.
*/
DoubleSolenoidSim(int fwd, int rev);
/**
* Constructs for a solenoid on the given PCM.
*
* @param pcm the PCM the solenoid is connected to.
* @param channel the solenoid channel.
*/
DoubleSolenoidSim(int module, int fwd, int rev);
/**
* Constructs from a PCMSim object.
*
* @param pcm the PCM the solenoid is connected to.
*/
DoubleSolenoidSim(PCMSim& pcm, int fwd, int rev);
/**
* Constructs for the given solenoid.
*
* @param solenoid the solenoid to simulate.
*/
explicit DoubleSolenoidSim(DoubleSolenoid& solenoid);
/**
* Register a callback to be run when the forward solenoid is initialized.
*
* @param callback the callback
* @param initialNotify should the callback be run with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
[[nodiscard]] std::unique_ptr<CallbackStore> RegisterFwdInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check if the forward solenoid has been initialized.
*
* @return true if initialized
*/
bool GetFwdInitialized() const;
/**
* Define whether the forward solenoid has been initialized.
*
* @param initialized whether the solenoid is intiialized.
*/
void SetFwdInitialized(bool initialized);
/**
* Register a callback to be run when the reverse solenoid is initialized.
*
* @param callback the callback
* @param initialNotify should the callback be run with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
[[nodiscard]] std::unique_ptr<CallbackStore> RegisterRevInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Define whether the reverse solenoid has been initialized.
*
* @param initialized whether the solenoid is intiialized.
*/
void SetRevInitialized(bool initialized);
/**
* Check if the reverse solenoid has been initialized.
*
* @return true if initialized
*/
bool GetRevInitialized() const;
/**
* Set the value of the double solenoid output.
*
* @param value The value to set (Off, Forward, Reverse)
*/
void Set(DoubleSolenoid::Value value);
/**
* Check the value of the double solenoid output.
*
* @return the output value of the double solenoid.
*/
DoubleSolenoid::Value Get() const;
private:
PCMSim m_pcm;
int m_fwd;
int m_rev;
};
} // namespace frc::sim

104
wpilibc/src/main/native/include/frc/simulation/SolenoidSim.h
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@@ -1,104 +0,0 @@
// 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.
#pragma once
#include <memory>
#include "frc/Solenoid.h"
#include "frc/simulation/CallbackStore.h"
#include "frc/simulation/PCMSim.h"
namespace frc::sim {
/**
* Class to control a simulated Pneumatic Control Module (PCM).
*/
class SolenoidSim {
public:
/**
* Constructs for a solenoid on the default PCM.
*
* @param channel the solenoid channel.
*/
explicit SolenoidSim(int channel);
/**
* Constructs for the given solenoid.
*
* @param doubleSolenoid the solenoid to simulate.
*/
explicit SolenoidSim(Solenoid& solenoid);
/**
* Constructs for a solenoid.
*
* @param module the CAN ID of the PCM the solenoid is connected to.
* @param channel the solenoid channel.
*
* @see PCMSim#PCMSim(int)
*/
SolenoidSim(int module, int channel);
/**
* Constructs for a solenoid on the given PCM.
*
* @param pcm the PCM the solenoid is connected to.
* @param channel the solenoid channel.
*/
SolenoidSim(PCMSim& pcm, int channel);
/**
* Register a callback to be run when this solenoid is initialized.
*
* @param callback the callback
* @param initialNotify should the callback be run with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
[[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check if this solenoid has been initialized.
*
* @return true if initialized
*/
bool GetInitialized() const;
/**
* Define whether this solenoid has been initialized.
*
* @param initialized whether the solenoid is intiialized.
*/
void SetInitialized(bool initialized);
/**
* Register a callback to be run when the output of this solenoid has changed.
*
* @param callback the callback
* @param initialNotify should the callback be run with the initial value
* @return the {@link CallbackStore} object associated with this callback.
*/
[[nodiscard]] std::unique_ptr<CallbackStore> RegisterOutputCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check the solenoid output.
*
* @return the solenoid output
*/
bool GetOutput() const;
/**
* Change the solenoid output.
*
* @param output the new solenoid output
*/
void SetOutput(bool output);
private:
PCMSim m_pcm;
int m_channel;
};
} // namespace frc::sim