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

hal/src/main/native/sim/mockdata/REVPHData.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 "REVPHDataInternal.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializeREVPHData() {
+  static REVPHData spd[kNumREVPHModules];
+  ::hal::SimREVPHData = spd;
+}
+}  // namespace hal::init
+
+REVPHData* hal::SimREVPHData;
+void REVPHData::ResetData() {
+  for (int i = 0; i < kNumREVPHChannels; 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_ResetREVPHData(int32_t index) {
+  SimREVPHData[index].ResetData();
+}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME)                              \
+  HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, REVPH##CAPINAME, SimREVPHData, \
+                               LOWERNAME)
+
+HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput,
+                                     SimREVPHData, 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_GetREVPHAllSolenoids(int32_t index, uint8_t* values) {
+  auto& data = SimREVPHData[index].solenoidOutput;
+  uint8_t ret = 0;
+  for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+    ret |= (data[i] << i);
+  }
+  *values = ret;
+}
+
+void HALSIM_SetREVPHAllSolenoids(int32_t index, uint8_t values) {
+  auto& data = SimREVPHData[index].solenoidOutput;
+  for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+    data[i] = (values & 0x1) != 0;
+    values >>= 1;
+  }
+}
+
+#define REGISTER(NAME) \
+  SimREVPHData[index].NAME.RegisterCallback(callback, param, initialNotify)
+
+void HALSIM_RegisterREVPHAllNonSolenoidCallbacks(int32_t index,
+                                                 HAL_NotifyCallback callback,
+                                                 void* param,
+                                                 HAL_Bool initialNotify) {
+  REGISTER(initialized);
+  REGISTER(compressorOn);
+  REGISTER(closedLoopEnabled);
+  REGISTER(pressureSwitch);
+  REGISTER(compressorCurrent);
+}
+
+void HALSIM_RegisterREVPHAllSolenoidCallbacks(int32_t index, int32_t channel,
+                                              HAL_NotifyCallback callback,
+                                              void* param,
+                                              HAL_Bool initialNotify) {
+  REGISTER(solenoidOutput[channel]);
+}
+}  // extern "C"

hal/src/main/native/sim/mockdata/REVPHDataInternal.h

@@ -0,0 +1,43 @@
+// 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 "../PortsInternal.h"
+#include "hal/simulation/REVPHData.h"
+#include "hal/simulation/SimDataValue.h"
+
+namespace hal {
+class REVPHData {
+  HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
+  HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
+  HAL_SIMDATAVALUE_DEFINE_NAME(CompressorOn)
+  HAL_SIMDATAVALUE_DEFINE_NAME(ClosedLoopEnabled)
+  HAL_SIMDATAVALUE_DEFINE_NAME(PressureSwitch)
+  HAL_SIMDATAVALUE_DEFINE_NAME(CompressorCurrent)
+
+  static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr HAL_Bool
+  GetSolenoidOutputDefault() {
+    return false;
+  }
+
+ public:
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+      false};
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidOutputName,
+               GetSolenoidOutputDefault>
+      solenoidOutput[kNumREVPHChannels];
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorOnName> compressorOn{
+      false};
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetClosedLoopEnabledName>
+      closedLoopEnabled{true};
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetPressureSwitchName> pressureSwitch{
+      false};
+  SimDataValue<double, HAL_MakeDouble, GetCompressorCurrentName>
+      compressorCurrent{0.0};
+
+  virtual void ResetData();
+};
+extern REVPHData* SimREVPHData;
+}  // namespace hal