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DutyCycleEncoder: Fix simulation support (#2387)

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The DutyCycleEncoder class initializes AnalogTrigger, which is not supported in simulation.

To avoid this, do not use AnalogTrigger (or Counter) in simulation mode.

Fixes #2367

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Joshua Shannon
2020-03-20 16:32:52 -05:00
committed by GitHub
parent 56fbb1fc33
commit 272eaf184f
3 changed files with 38 additions and 45 deletions
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50
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,51 +18,37 @@ using namespace frc;
DutyCycleEncoder::DutyCycleEncoder(int channel)
: m_dutyCycle{std::make_shared<DutyCycle>(
std::make_shared<DigitalInput>(channel))},
m_analogTrigger{m_dutyCycle.get()},
m_counter{} {
std::make_shared<DigitalInput>(channel))} {
Init();
}
DutyCycleEncoder::DutyCycleEncoder(DutyCycle& dutyCycle)
: m_dutyCycle{&dutyCycle, NullDeleter<DutyCycle>{}},
m_analogTrigger{m_dutyCycle.get()},
m_counter{} {
: m_dutyCycle{&dutyCycle, NullDeleter<DutyCycle>{}} {
Init();
}
DutyCycleEncoder::DutyCycleEncoder(DutyCycle* dutyCycle)
: m_dutyCycle{dutyCycle, NullDeleter<DutyCycle>{}},
m_analogTrigger{m_dutyCycle.get()},
m_counter{} {
: m_dutyCycle{dutyCycle, NullDeleter<DutyCycle>{}} {
Init();
}
DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle)
: m_dutyCycle{std::move(dutyCycle)},
m_analogTrigger{m_dutyCycle.get()},
m_counter{} {
: m_dutyCycle{std::move(dutyCycle)} {
Init();
}
DutyCycleEncoder::DutyCycleEncoder(DigitalSource& digitalSource)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)},
m_analogTrigger{m_dutyCycle.get()},
m_counter{} {
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init();
}
DutyCycleEncoder::DutyCycleEncoder(DigitalSource* digitalSource)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)},
m_analogTrigger{m_dutyCycle.get()},
m_counter{} {
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init();
}
DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)},
m_analogTrigger{m_dutyCycle.get()},
m_counter{} {
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init();
}
@@ -72,14 +58,16 @@ void DutyCycleEncoder::Init() {
if (m_simDevice) {
m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
m_simIsConnected = m_simDevice.CreateBoolean("Connected", false, true);
} else {
m_analogTrigger = std::make_unique<AnalogTrigger>(m_dutyCycle.get());
m_analogTrigger->SetLimitsDutyCycle(0.25, 0.75);
m_counter = std::make_unique<Counter>();
m_counter->SetUpSource(
m_analogTrigger->CreateOutput(AnalogTriggerType::kRisingPulse));
m_counter->SetDownSource(
m_analogTrigger->CreateOutput(AnalogTriggerType::kFallingPulse));
}
m_analogTrigger.SetLimitsDutyCycle(0.25, 0.75);
m_counter.SetUpSource(
m_analogTrigger.CreateOutput(AnalogTriggerType::kRisingPulse));
m_counter.SetDownSource(
m_analogTrigger.CreateOutput(AnalogTriggerType::kFallingPulse));
SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
}
@@ -90,9 +78,9 @@ units::turn_t DutyCycleEncoder::Get() const {
// As the values are not atomic, keep trying until we get 2 reads of the same
// value If we don't within 10 attempts, error
for (int i = 0; i < 10; i++) {
auto counter = m_counter.Get();
auto counter = m_counter->Get();
auto pos = m_dutyCycle->GetOutput();
auto counter2 = m_counter.Get();
auto counter2 = m_counter->Get();
auto pos2 = m_dutyCycle->GetOutput();
if (counter == counter2 && pos == pos2) {
units::turn_t turns{counter + pos - m_positionOffset};
@@ -124,7 +112,7 @@ int DutyCycleEncoder::GetFrequency() const {
}
void DutyCycleEncoder::Reset() {
m_counter.Reset();
if (m_counter) m_counter->Reset();
m_positionOffset = m_dutyCycle->GetOutput();
}