Simulate ADX* family of accelerometers and gyros (#688)

2026-06-22 01:11:42 +00:00 · 2017-11-18 15:31:51 -05:00
parent cd1dbb1e3a
commit 303c259b89
32 changed files with 727 additions and 18 deletions
--- a/hal/src/main/native/sim/MockData/AccelerometerData.cpp
+++ b/hal/src/main/native/sim/MockData/AccelerometerData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "AccelerometerDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/AnalogGyroData.cpp
+++ b/hal/src/main/native/sim/MockData/AnalogGyroData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "AnalogGyroDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/AnalogInData.cpp
+++ b/hal/src/main/native/sim/MockData/AnalogInData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "AnalogInDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/AnalogOutData.cpp
+++ b/hal/src/main/native/sim/MockData/AnalogOutData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "AnalogOutDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/AnalogTriggerData.cpp
+++ b/hal/src/main/native/sim/MockData/AnalogTriggerData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "AnalogTriggerDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/DIOData.cpp
+++ b/hal/src/main/native/sim/MockData/DIOData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "DIODataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/DigitalPWMData.cpp
+++ b/hal/src/main/native/sim/MockData/DigitalPWMData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "DigitalPWMDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/DriverStationData.cpp
+++ b/hal/src/main/native/sim/MockData/DriverStationData.cpp
@@ -11,7 +11,7 @@

 #include "DriverStationDataInternal.h"
 #include "HAL/cpp/make_unique.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 namespace hal {
 struct JoystickOutputStore {
--- a/hal/src/main/native/sim/MockData/EncoderData.cpp
+++ b/hal/src/main/native/sim/MockData/EncoderData.cpp
@@ -7,7 +7,7 @@

 #include "../PortsInternal.h"
 #include "EncoderDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/I2CData.cpp
+++ b/hal/src/main/native/sim/MockData/I2CData.cpp
@@ -9,7 +9,7 @@

 #include "../PortsInternal.h"
 #include "I2CDataInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/NotifyCallbackHelpers.cpp
+++ b/hal/src/main/native/sim/MockData/NotifyCallbackHelpers.cpp
@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"

 using namespace hal;

--- a/hal/src/main/native/sim/MockData/NotifyCallbackHelpers.h
+++ b/hal/src/main/native/sim/MockData/NotifyCallbackHelpers.h
@@ -1,44 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 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.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <memory>
-
-#include "MockData/NotifyListenerVector.h"
-
-std::shared_ptr<hal::NotifyListenerVector> RegisterCallback(
-    std::shared_ptr<hal::NotifyListenerVector> currentVector, const char* name,
-    HAL_NotifyCallback callback, void* param, int32_t* newUid);
-
-std::shared_ptr<hal::NotifyListenerVector> CancelCallback(
-    std::shared_ptr<hal::NotifyListenerVector> currentVector, int32_t uid);
-
-void InvokeCallback(std::shared_ptr<hal::NotifyListenerVector> currentVector,
-                    const char* name, const HAL_Value* value);
-
-std::shared_ptr<hal::BufferListenerVector> RegisterCallback(
-    std::shared_ptr<hal::BufferListenerVector> currentVector, const char* name,
-    HAL_BufferCallback callback, void* param, int32_t* newUid);
-
-std::shared_ptr<hal::BufferListenerVector> CancelCallback(
-    std::shared_ptr<hal::BufferListenerVector> currentVector, int32_t uid);
-
-void InvokeCallback(std::shared_ptr<hal::BufferListenerVector> currentVector,
-                    const char* name, uint8_t* buffer, int32_t count);
-
-std::shared_ptr<hal::ConstBufferListenerVector> RegisterCallback(
-    std::shared_ptr<hal::ConstBufferListenerVector> currentVector,
-    const char* name, HAL_ConstBufferCallback callback, void* param,
-    int32_t* newUid);
-
-std::shared_ptr<hal::ConstBufferListenerVector> CancelCallback(
-    std::shared_ptr<hal::ConstBufferListenerVector> currentVector, int32_t uid);
-
-void InvokeCallback(
-    std::shared_ptr<hal::ConstBufferListenerVector> currentVector,
-    const char* name, const uint8_t* buffer, int32_t count);
--- a/hal/src/main/native/sim/MockData/PCMData.cpp
+++ b/hal/src/main/native/sim/MockData/PCMData.cpp
@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/

 #include "../PortsInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"
 #include "PCMDataInternal.h"

 using namespace hal;
--- a/hal/src/main/native/sim/MockData/PDPData.cpp
+++ b/hal/src/main/native/sim/MockData/PDPData.cpp
@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/

 #include "../PortsInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"
 #include "PDPDataInternal.h"

 using namespace hal;
--- a/hal/src/main/native/sim/MockData/PWMData.cpp
+++ b/hal/src/main/native/sim/MockData/PWMData.cpp
@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/

 #include "../PortsInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"
 #include "PWMDataInternal.h"

 using namespace hal;
--- a/hal/src/main/native/sim/MockData/RelayData.cpp
+++ b/hal/src/main/native/sim/MockData/RelayData.cpp
@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/

 #include "../PortsInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"
 #include "RelayDataInternal.h"

 using namespace hal;
--- a/hal/src/main/native/sim/MockData/RoboRioData.cpp
+++ b/hal/src/main/native/sim/MockData/RoboRioData.cpp
@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/

 #include "../PortsInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"
 #include "RoboRioDataInternal.h"

 using namespace hal;
--- a/hal/src/main/native/sim/MockData/SPIAccelerometerData.cpp
+++ b/hal/src/main/native/sim/MockData/SPIAccelerometerData.cpp
@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/

 #include "../PortsInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"
 #include "SPIAccelerometerDataInternal.h"

 using namespace hal;
--- a/hal/src/main/native/sim/MockData/SPIData.cpp
+++ b/hal/src/main/native/sim/MockData/SPIData.cpp
@@ -8,7 +8,7 @@
 #include <iostream>

 #include "../PortsInternal.h"
-#include "NotifyCallbackHelpers.h"
+#include "MockData/NotifyCallbackHelpers.h"
 #include "SPIDataInternal.h"

 using namespace hal;
@@ -178,6 +178,9 @@ int32_t SPIData::Write(const uint8_t* dataToSend, int32_t sendSize) {
 int32_t SPIData::Transaction(const uint8_t* dataToSend, uint8_t* dataReceived,
                             int32_t size) {
  std::lock_guard<wpi::mutex> lock(m_dataMutex);
+  InvokeCallback(m_writeCallbacks, "Write", dataToSend, size);
+  InvokeCallback(m_readCallbacks, "Read", dataReceived, size);
+
  return size;
 }