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

simulation/adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h

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+/*----------------------------------------------------------------------------*/
+/* 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 "ThreeAxisAccelerometerData.h"
+
+namespace hal {
+class ADXL345_I2CData : public ThreeAxisAccelerometerData {
+ public:
+  explicit ADXL345_I2CData(int port);
+  virtual ~ADXL345_I2CData();
+
+  void HandleWrite(const uint8_t* buffer, uint32_t count);
+  void HandleRead(uint8_t* buffer, uint32_t count);
+
+ private:
+  int m_lastWriteAddress;
+
+  static const double LSB;
+};
+}  // namespace hal

simulation/adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h

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+/*----------------------------------------------------------------------------*/
+/* 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 "ThreeAxisAccelerometerData.h"
+
+namespace hal {
+class ADXL345_SpiAccelerometer : public ThreeAxisAccelerometerData {
+ public:
+  explicit ADXL345_SpiAccelerometer(int port);
+  virtual ~ADXL345_SpiAccelerometer();
+
+  void HandleWrite(const uint8_t* buffer, uint32_t count);
+  void HandleRead(uint8_t* buffer, uint32_t count);
+
+ private:
+  int m_lastWriteAddress;
+
+  static const double LSB;
+};
+}  // namespace hal

simulation/adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h

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+/*----------------------------------------------------------------------------*/
+/* 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 "ThreeAxisAccelerometerData.h"
+
+namespace hal {
+class ADXL362_SpiAccelerometer : public ThreeAxisAccelerometerData {
+ public:
+  explicit ADXL362_SpiAccelerometer(int port);
+  virtual ~ADXL362_SpiAccelerometer();
+
+  void HandleWrite(const uint8_t* buffer, uint32_t count);
+  void HandleRead(uint8_t* buffer, uint32_t count);
+
+ private:
+  int m_lastWriteAddress;
+
+  static const double LSB;
+};
+}  // namespace hal

simulation/adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h

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+/*----------------------------------------------------------------------------*/
+/* 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 <atomic>
+#include <memory>
+
+#include <support/mutex.h>
+
+#include "MockData/NotifyListenerVector.h"
+
+namespace hal {
+class ADXRS450_SpiGyroWrapper {
+ public:
+  explicit ADXRS450_SpiGyroWrapper(int port);
+  virtual ~ADXRS450_SpiGyroWrapper();
+
+  void HandleRead(uint8_t* buffer, uint32_t count);
+
+  virtual void ResetData();
+
+  int32_t RegisterAngleCallback(HAL_NotifyCallback callback, void* param,
+                                HAL_Bool initialNotify);
+  void CancelAngleCallback(int32_t uid);
+  void InvokeAngleCallback(HAL_Value value);
+  double GetAngle();
+  void SetAngle(double angle);
+
+ private:
+  const int m_port;
+
+  wpi::mutex m_registerMutex;
+  std::atomic<double> m_angle{0.0};
+  std::shared_ptr<NotifyListenerVector> m_angleCallbacks = nullptr;
+
+  static const double ANGLE_LSB;
+};
+}  // namespace hal

simulation/adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h

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+/*----------------------------------------------------------------------------*/
+/* 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 <atomic>
+#include <memory>
+
+#include <support/mutex.h>
+
+#include "MockData/NotifyListenerVector.h"
+
+namespace hal {
+class ThreeAxisAccelerometerData {
+ public:
+  ThreeAxisAccelerometerData();
+  virtual ~ThreeAxisAccelerometerData();
+
+  int32_t RegisterXCallback(HAL_NotifyCallback callback, void* param,
+                            HAL_Bool initialNotify);
+  void CancelXCallback(int32_t uid);
+  void InvokeXCallback(HAL_Value value);
+  double GetX();
+  void SetX(double x);
+
+  int32_t RegisterYCallback(HAL_NotifyCallback callback, void* param,
+                            HAL_Bool initialNotify);
+  void CancelYCallback(int32_t uid);
+  void InvokeYCallback(HAL_Value value);
+  double GetY();
+  void SetY(double y);
+
+  int32_t RegisterZCallback(HAL_NotifyCallback callback, void* param,
+                            HAL_Bool initialNotify);
+  void CancelZCallback(int32_t uid);
+  void InvokeZCallback(HAL_Value value);
+  double GetZ();
+  void SetZ(double z);
+
+  virtual void ResetData();
+
+ protected:
+  wpi::mutex m_registerMutex;
+  std::atomic<double> m_x{0.0};
+  std::shared_ptr<NotifyListenerVector> m_xCallbacks = nullptr;
+  std::atomic<double> m_y{0.0};
+  std::shared_ptr<NotifyListenerVector> m_yCallbacks = nullptr;
+  std::atomic<double> m_z{0.0};
+  std::shared_ptr<NotifyListenerVector> m_zCallbacks = nullptr;
+};
+}  // namespace hal