[hal, wpilib] Add REV PneumaticsHub (#3600)

hal/src/main/native/sim/REVPH.cpp

@@ -0,0 +1,181 @@
+// 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 "hal/REVPH.h"
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "mockdata/REVPHDataInternal.h"
+
+using namespace hal;
+
+namespace {
+struct PCM {
+  int32_t module;
+  wpi::mutex lock;
+  std::string previousAllocation;
+};
+}  // namespace
+
+static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
+                             HAL_HandleEnum::REVPH>* pcmHandles;
+
+namespace hal::init {
+void InitializeREVPH() {
+  static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
+                               HAL_HandleEnum::REVPH>
+      pH;
+  pcmHandles = &pH;
+}
+}  // namespace hal::init
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+                                    const char* allocationLocation,
+                                    int32_t* status) {
+  hal::init::CheckInit();
+
+  if (module == 0) {
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                     kNumREVPHModules, module);
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_REVPHHandle handle;
+  auto pcm = pcmHandles->Allocate(module, &handle, status);
+
+  if (*status != 0) {
+    if (pcm) {
+      hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+                                           pcm->previousAllocation);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                       kNumREVPHModules, module);
+    }
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+  }
+
+  pcm->previousAllocation = allocationLocation ? allocationLocation : "";
+  pcm->module = module;
+
+  SimREVPHData[module].initialized = true;
+  // Enable closed loop
+  SimREVPHData[module].closedLoopEnabled = true;
+
+  return handle;
+}
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    pcmHandles->Free(handle);
+    return;
+  }
+  SimREVPHData[pcm->module].initialized = false;
+  pcmHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
+  return module >= 1 && module < kNumREVPDHModules;
+}
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {
+  return channel < kNumREVPHChannels && channel >= 0;
+}
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  return SimREVPHData[pcm->module].compressorOn;
+}
+
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+                                   int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  SimREVPHData[pcm->module].closedLoopEnabled = enabled;
+}
+
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
+                                       int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  return SimREVPHData[pcm->module].closedLoopEnabled;
+}
+
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  return SimREVPHData[pcm->module].pressureSwitch;
+}
+
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+                                  int32_t* status) {
+  return 0;
+}
+
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  return SimREVPHData[pcm->module].compressorCurrent;
+}
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  std::scoped_lock lock{pcm->lock};
+  auto& data = SimREVPHData[pcm->module].solenoidOutput;
+  uint8_t ret = 0;
+  for (int i = 0; i < kNumREVPHChannels; i++) {
+    ret |= (data[i] << i);
+  }
+  return ret;
+}
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+                           int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  auto& data = SimREVPHData[pcm->module].solenoidOutput;
+  std::scoped_lock lock{pcm->lock};
+  for (int i = 0; i < kNumREVPHChannels; i++) {
+    auto indexMask = (1 << i);
+    if ((mask & indexMask) != 0) {
+      data[i] = (values & indexMask) != 0;
+    }
+  }
+}
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+                          int32_t* status) {}