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[sim] Add WPILib-class-taking constructors (#2538)

Browse Source 
When not direct mapped, make index constructors private and add factory
functions for channel and index.

Co-authored-by: GabrielDeml <gabrielddeml@gmail.com>
This commit is contained in:
Peter Johnson
2020-07-04 10:10:43 -07:00
committed by GitHub
parent 80a1fa9ece
commit 3050e935a1
75 changed files with 1281 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
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@@ -36,4 +36,6 @@ public class AddressableLEDDataJNI extends JNIWrapper {
public static native void setData(int index, byte[] data);
public static native void resetData(int index);
public static native int findForChannel(int channel);
}

2
hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
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@@ -26,4 +26,6 @@ public class AnalogTriggerDataJNI extends JNIWrapper {
public static native void setTriggerUpperBound(int index, double triggerUpperBound);
public static native void resetData(int index);
public static native int findForChannel(int channel);
}

2
hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
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@@ -26,4 +26,6 @@ public class DigitalPWMDataJNI extends JNIWrapper {
public static native void setPin(int index, int pin);
public static native void resetData(int index);
public static native int findForChannel(int channel);
}

2
hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
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@@ -26,4 +26,6 @@ public class DutyCycleDataJNI extends JNIWrapper {
public static native void setOutput(int index, double output);
public static native void resetData(int index);
public static native int findForChannel(int channel);
}

2
hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
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@@ -56,4 +56,6 @@ public class EncoderDataJNI extends JNIWrapper {
public static native double getRate(int index);
public static native void resetData(int index);
public static native int findForChannel(int channel);
}

2
hal/src/main/native/include/hal/simulation/AddressableLEDData.h
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@@ -15,6 +15,8 @@
extern "C" {
#endif
int32_t HALSIM_FindAddressableLEDForChannel(int32_t channel);
void HALSIM_ResetAddressableLEDData(int32_t index);
int32_t HALSIM_RegisterAddressableLEDInitializedCallback(

2
hal/src/main/native/include/hal/simulation/AnalogTriggerData.h
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@@ -21,6 +21,8 @@ enum HALSIM_AnalogTriggerMode : int32_t {
extern "C" {
#endif
int32_t HALSIM_FindAnalogTriggerForChannel(int32_t channel);
void HALSIM_ResetAnalogTriggerData(int32_t index);
int32_t HALSIM_RegisterAnalogTriggerInitializedCallback(
int32_t index, HAL_NotifyCallback callback, void* param,

2
hal/src/main/native/include/hal/simulation/DigitalPWMData.h
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@@ -14,6 +14,8 @@
extern "C" {
#endif
int32_t HALSIM_FindDigitalPWMForChannel(int32_t channel);
void HALSIM_ResetDigitalPWMData(int32_t index);
int32_t HALSIM_RegisterDigitalPWMInitializedCallback(
int32_t index, HAL_NotifyCallback callback, void* param,

2
hal/src/main/native/include/hal/simulation/DutyCycleData.h
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@@ -14,6 +14,8 @@
extern "C" {
#endif
int32_t HALSIM_FindDutyCycleForChannel(int32_t channel);
void HALSIM_ResetDutyCycleData(int32_t index);
int32_t HALSIM_GetDutyCycleDigitalChannel(int32_t index);

2
hal/src/main/native/include/hal/simulation/EncoderData.h
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@@ -14,6 +14,8 @@
extern "C" {
#endif
int32_t HALSIM_FindEncoderForChannel(int32_t channel);
void HALSIM_ResetEncoderData(int32_t index);
int32_t HALSIM_GetEncoderDigitalChannelA(int32_t index);
int32_t HALSIM_GetEncoderDigitalChannelB(int32_t index);

3
hal/src/main/native/sim/AnalogTrigger.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -85,6 +85,7 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
SimAnalogTriggerData[trigger->index].initialized = true;
SimAnalogTriggerData[trigger->index].inputPort = analog_port->channel;
trigger->trigState = false;

12
hal/src/main/native/sim/jni/AddressableLEDDataJNI.cpp
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@@ -291,4 +291,16 @@ Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_resetData
HALSIM_ResetAddressableLEDData(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: findForChannel
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_findForChannel
(JNIEnv*, jclass, jint channel)
{
return HALSIM_FindAddressableLEDForChannel(channel);
}
} // extern "C"

12
hal/src/main/native/sim/jni/AnalogTriggerDataJNI.cpp
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@@ -180,4 +180,16 @@ Java_edu_wpi_first_hal_simulation_AnalogTriggerDataJNI_resetData
HALSIM_ResetAnalogTriggerData(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogTriggerDataJNI
* Method: findForChannel
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AnalogTriggerDataJNI_findForChannel
(JNIEnv*, jclass, jint channel)
{
return HALSIM_FindAnalogTriggerForChannel(channel);
}
} // extern "C"

12
hal/src/main/native/sim/jni/DigitalPWMDataJNI.cpp
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@@ -177,4 +177,16 @@ Java_edu_wpi_first_hal_simulation_DigitalPWMDataJNI_resetData
HALSIM_ResetDigitalPWMData(index);
}
/*
* Class: edu_wpi_first_hal_simulation_DigitalPWMDataJNI
* Method: findForChannel
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_DigitalPWMDataJNI_findForChannel
(JNIEnv*, jclass, jint channel)
{
return HALSIM_FindDigitalPWMForChannel(channel);
}
} // extern "C"

12
hal/src/main/native/sim/jni/DutyCycleDataJNI.cpp
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@@ -177,4 +177,16 @@ Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_resetData
HALSIM_ResetDutyCycleData(index);
}
/*
* Class: edu_wpi_first_hal_simulation_DutyCycleDataJNI
* Method: findForChannel
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_findForChannel
(JNIEnv*, jclass, jint channel)
{
return HALSIM_FindDutyCycleForChannel(channel);
}
} // extern "C"

12
hal/src/main/native/sim/jni/EncoderDataJNI.cpp
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@@ -475,4 +475,16 @@ Java_edu_wpi_first_hal_simulation_EncoderDataJNI_resetData
HALSIM_ResetEncoderData(index);
}
/*
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
* Method: findForChannel
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_findForChannel
(JNIEnv*, jclass, jint channel)
{
return HALSIM_FindEncoderForChannel(channel);
}
} // extern "C"

12
hal/src/main/native/sim/mockdata/AddressableLEDData.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. */
@@ -49,6 +49,16 @@ int32_t AddressableLEDData::GetData(HAL_AddressableLEDData* d) {
}
extern "C" {
int32_t HALSIM_FindAddressableLEDForChannel(int32_t channel) {
for (int i = 0; i < kNumAddressableLEDs; ++i) {
if (SimAddressableLEDData[i].initialized &&
SimAddressableLEDData[i].outputPort == channel)
return i;
}
return -1;
}
void HALSIM_ResetAddressableLEDData(int32_t index) {
SimAddressableLEDData[index].ResetData();
}

12
hal/src/main/native/sim/mockdata/AnalogTriggerData.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -28,6 +28,16 @@ void AnalogTriggerData::ResetData() {
}
extern "C" {
int32_t HALSIM_FindAnalogTriggerForChannel(int32_t channel) {
for (int i = 0; i < kNumAnalogTriggers; ++i) {
if (SimAnalogTriggerData[i].initialized &&
SimAnalogTriggerData[i].inputPort == channel)
return i;
}
return -1;
}
void HALSIM_ResetAnalogTriggerData(int32_t index) {
SimAnalogTriggerData[index].ResetData();
}

1
hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
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@@ -31,6 +31,7 @@ class AnalogTriggerData {
SimDataValue<HALSIM_AnalogTriggerMode, MakeTriggerModeValue,
GetTriggerModeName>
triggerMode{static_cast<HALSIM_AnalogTriggerMode>(0)};
std::atomic<int32_t> inputPort;
virtual void ResetData();
};

10
hal/src/main/native/sim/mockdata/DigitalPWMData.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -27,6 +27,14 @@ void DigitalPWMData::ResetData() {
}
extern "C" {
int32_t HALSIM_FindDigitalPWMForChannel(int32_t channel) {
for (int i = 0; i < kNumDigitalPWMOutputs; ++i) {
if (SimDigitalPWMData[i].initialized && SimDigitalPWMData[i].pin == channel)
return i;
}
return -1;
}
void HALSIM_ResetDigitalPWMData(int32_t index) {
SimDigitalPWMData[index].ResetData();
}

11
hal/src/main/native/sim/mockdata/DutyCycleData.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. */
@@ -30,6 +30,15 @@ void DutyCycleData::ResetData() {
}
extern "C" {
int32_t HALSIM_FindDutyCycleForChannel(int32_t channel) {
for (int i = 0; i < kNumDutyCycles; ++i) {
if (SimDutyCycleData[i].initialized &&
SimDutyCycleData[i].digitalChannel == channel)
return i;
}
return -1;
}
void HALSIM_ResetDutyCycleData(int32_t index) {
SimDutyCycleData[index].ResetData();
}

10
hal/src/main/native/sim/mockdata/EncoderData.cpp
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@@ -36,6 +36,16 @@ void EncoderData::ResetData() {
}
extern "C" {
int32_t HALSIM_FindEncoderForChannel(int32_t channel) {
for (int i = 0; i < kNumEncoders; ++i) {
if (!SimEncoderData[i].initialized) continue;
if (SimEncoderData[i].digitalChannelA == channel ||
SimEncoderData[i].digitalChannelB == channel)
return i;
}
return -1;
}
void HALSIM_ResetEncoderData(int32_t index) {
SimEncoderData[index].ResetData();
}

6
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -160,3 +160,7 @@ void AnalogGyro::Calibrate() {
HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
wpi_setHALError(status);
}
std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
return m_analog;
}

2
wpilibc/src/main/native/cpp/AnalogOutput.cpp
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@@ -65,7 +65,7 @@ double AnalogOutput::GetVoltage() const {
return voltage;
}
int AnalogOutput::GetChannel() { return m_channel; }
int AnalogOutput::GetChannel() const { return m_channel; }
void AnalogOutput::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Output");

2
wpilibc/src/main/native/cpp/Compressor.cpp
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@@ -204,6 +204,8 @@ void Compressor::ClearAllPCMStickyFaults() {
}
}
int Compressor::GetModule() const { return m_module; }
void Compressor::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Compressor");
builder.AddBooleanProperty(

4
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
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@@ -25,7 +25,7 @@ PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {}
/**
* Initialize the PDP.
*/
PowerDistributionPanel::PowerDistributionPanel(int module) {
PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
int32_t status = 0;
m_handle = HAL_InitializePDP(module, &status);
if (status != 0) {
@@ -136,6 +136,8 @@ void PowerDistributionPanel::ClearStickyFaults() {
}
}
int PowerDistributionPanel::GetModule() const { return m_module; }
void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("PowerDistributionPanel");
for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {

7
wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp
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@@ -11,3 +11,10 @@ void frc::sim::CallbackStoreThunk(const char* name, void* param,
const HAL_Value* value) {
reinterpret_cast<CallbackStore*>(param)->callback(name, value);
}
void frc::sim::ConstBufferCallbackStoreThunk(const char* name, void* param,
const unsigned char* buffer,
unsigned int count) {
reinterpret_cast<CallbackStore*>(param)->constBufferCallback(name, buffer,
count);
}

9
wpilibc/src/main/native/include/frc/AnalogGyro.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -186,6 +186,13 @@ class AnalogGyro : public GyroBase {
void Calibrate() override;
/**
* Gets the analog input for the gyro.
*
* @return AnalogInput
*/
std::shared_ptr<AnalogInput> GetAnalogInput() const;
protected:
std::shared_ptr<AnalogInput> m_analog;

4
wpilibc/src/main/native/include/frc/AnalogOutput.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -55,7 +55,7 @@ class AnalogOutput : public ErrorBase,
/**
* Get the channel of this AnalogOutput.
*/
int GetChannel();
int GetChannel() const;
void InitSendable(SendableBuilder& builder) override;

9
wpilibc/src/main/native/include/frc/Compressor.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -171,6 +171,13 @@ class Compressor : public ErrorBase,
*/
void ClearAllPCMStickyFaults();
/**
* Gets module number (CAN ID).
*
* @return Module number
*/
int GetModule() const;
void InitSendable(SendableBuilder& builder) override;
protected:

8
wpilibc/src/main/native/include/frc/PowerDistributionPanel.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -85,10 +85,16 @@ class PowerDistributionPanel : public ErrorBase,
*/
void ClearStickyFaults();
/**
* Gets module number (CAN ID).
*/
int GetModule() const;
void InitSendable(SendableBuilder& builder) override;
private:
hal::Handle<HAL_PDPHandle> m_handle;
int m_module;
};
} // namespace frc

154
wpilibc/src/main/native/include/frc/simulation/AddressableLEDSim.h Normal file
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@@ -0,0 +1,154 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2020 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/AddressableLEDData.h>
#include <wpi/ArrayRef.h>
#include "CallbackStore.h"
#include "frc/AddressableLED.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated addressable LED.
*/
class AddressableLEDSim {
public:
/**
* Constructs for the first addressable LED.
*/
AddressableLEDSim() : m_index{0} {}
/**
* Constructs from an AddressableLED object.
*
* @param addressableLED AddressableLED to simulate
*/
explicit AddressableLEDSim(const AddressableLED& addressableLED)
: m_index{0} {}
/**
* Creates an AddressableLEDSim for a PWM channel.
*
* @param pwmChannel PWM channel
* @return Simulated object
* @throws std::out_of_range if no AddressableLED is configured for that
* channel
*/
static AddressableLEDSim CreateForChannel(int pwmChannel) {
int index = HALSIM_FindAddressableLEDForChannel(pwmChannel);
if (index < 0)
throw std::out_of_range("no addressable LED found for PWM channel");
return AddressableLEDSim{index};
}
/**
* Creates an AddressableLEDSim for a simulated index.
* The index is incremented for each simulated AddressableLED.
*
* @param index simulator index
* @return Simulated object
*/
static AddressableLEDSim CreateForIndex(int index) {
return AddressableLEDSim{index};
}
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAddressableLEDInitializedCallback);
store->SetUid(HALSIM_RegisterAddressableLEDInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool GetInitialized() const {
return HALSIM_GetAddressableLEDInitialized(m_index);
}
void SetInitialized(bool initialized) {
HALSIM_SetAddressableLEDInitialized(m_index, initialized);
}
std::unique_ptr<CallbackStore> registerOutputPortCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAddressableLEDOutputPortCallback);
store->SetUid(HALSIM_RegisterAddressableLEDOutputPortCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int GetOutputPort() const {
return HALSIM_GetAddressableLEDOutputPort(m_index);
}
void SetOutputPort(int outputPort) {
HALSIM_SetAddressableLEDOutputPort(m_index, outputPort);
}
std::unique_ptr<CallbackStore> RegisterLengthCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAddressableLEDLengthCallback);
store->SetUid(HALSIM_RegisterAddressableLEDLengthCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int GetLength() const { return HALSIM_GetAddressableLEDLength(m_index); }
void SetLength(int length) {
HALSIM_SetAddressableLEDLength(m_index, length);
}
std::unique_ptr<CallbackStore> RegisterRunningCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAddressableLEDRunningCallback);
store->SetUid(HALSIM_RegisterAddressableLEDRunningCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int GetRunning() const { return HALSIM_GetAddressableLEDRunning(m_index); }
void SetRunning(bool running) {
HALSIM_SetAddressableLEDRunning(m_index, running);
}
std::unique_ptr<CallbackStore> RegisterDataCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAddressableLEDDataCallback);
store->SetUid(HALSIM_RegisterAddressableLEDDataCallback(
m_index, &ConstBufferCallbackStoreThunk, store.get()));
return store;
}
int GetData(struct HAL_AddressableLEDData* data) const {
return HALSIM_GetAddressableLEDData(m_index, data);
}
void SetData(struct HAL_AddressableLEDData* data, int length) {
HALSIM_SetAddressableLEDData(m_index, data, length);
}
private:
explicit AddressableLEDSim(int index) : m_index{index} {}
int m_index;
};
} // namespace sim
} // namespace frc

21
wpilibc/src/main/native/include/frc/simulation/AnalogGyroSim.h
View File

@@ -13,12 +13,31 @@
#include <hal/simulation/AnalogGyroData.h>
#include "CallbackStore.h"
#include "frc/AnalogGyro.h"
#include "frc/AnalogInput.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated analog gyro.
*/
class AnalogGyroSim {
public:
explicit AnalogGyroSim(int index) { m_index = index; }
/**
* Constructs from an AnalogGyro object.
*
* @param gyro AnalogGyro to simulate
*/
explicit AnalogGyroSim(const AnalogGyro& gyro)
: m_index{gyro.GetAnalogInput()->GetChannel()} {}
/**
* Constructs from an analog input channel number.
*
* @param channel Channel number
*/
explicit AnalogGyroSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> RegisterAngleCallback(NotifyCallback callback,
bool initialNotify) {

22
wpilibc/src/main/native/include/frc/simulation/AnalogInSim.h → wpilibc/src/main/native/include/frc/simulation/AnalogInputSim.h
View File

@@ -13,12 +13,30 @@
#include <hal/simulation/AnalogInData.h>
#include "CallbackStore.h"
#include "frc/AnalogInput.h"
namespace frc {
namespace sim {
class AnalogInSim {
/**
* Class to control a simulated analog input.
*/
class AnalogInputSim {
public:
explicit AnalogInSim(int index) { m_index = index; }
/**
* Constructs from an AnalogInput object.
*
* @param analogInput AnalogInput to simulate
*/
explicit AnalogInputSim(const AnalogInput& analogInput)
: m_index{analogInput.GetChannel()} {}
/**
* Constructs from an analog input channel number.
*
* @param channel Channel number
*/
explicit AnalogInputSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {

22
wpilibc/src/main/native/include/frc/simulation/AnalogOutSim.h → wpilibc/src/main/native/include/frc/simulation/AnalogOutputSim.h
View File

@@ -13,12 +13,30 @@
#include <hal/simulation/AnalogOutData.h>
#include "CallbackStore.h"
#include "frc/AnalogOutput.h"
namespace frc {
namespace sim {
class AnalogOutSim {
/**
* Class to control a simulated analog output.
*/
class AnalogOutputSim {
public:
explicit AnalogOutSim(int index) { m_index = index; }
/**
* Constructs from an AnalogOutput object.
*
* @param analogOutput AnalogOutput to simulate
*/
explicit AnalogOutputSim(const AnalogOutput& analogOutput)
: m_index{analogOutput.GetChannel()} {}
/**
* Constructs from an analog output channel number.
*
* @param channel Channel number
*/
explicit AnalogOutputSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> RegisterVoltageCallback(
NotifyCallback callback, bool initialNotify) {

42
wpilibc/src/main/native/include/frc/simulation/AnalogTriggerSim.h
View File

@@ -7,18 +7,56 @@
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/AnalogTriggerData.h>
#include "CallbackStore.h"
#include "frc/AnalogTrigger.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated analog trigger.
*/
class AnalogTriggerSim {
public:
explicit AnalogTriggerSim(int index) { m_index = index; }
/**
* Constructs from an AnalogTrigger object.
*
* @param analogTrigger AnalogTrigger to simulate
*/
explicit AnalogTriggerSim(const AnalogTrigger& analogTrigger)
: m_index{analogTrigger.GetIndex()} {}
/**
* Creates an AnalogTriggerSim for an analog input channel.
*
* @param channel analog input channel
* @return Simulated object
* @throws std::out_of_range if no AnalogTrigger is configured for that
* channel
*/
static AnalogTriggerSim CreateForChannel(int channel) {
int index = HALSIM_FindAnalogTriggerForChannel(channel);
if (index < 0)
throw std::out_of_range("no analog trigger found for channel");
return AnalogTriggerSim{index};
}
/**
* Creates an AnalogTriggerSim for a simulated index.
* The index is incremented for each simulated AnalogTrigger.
*
* @param index simulator index
* @return Simulated object
*/
static AnalogTriggerSim CreateForIndex(int index) {
return AnalogTriggerSim{index};
}
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
@@ -76,6 +114,8 @@ class AnalogTriggerSim {
void ResetData() { HALSIM_ResetAnalogTriggerData(m_index); }
private:
explicit AnalogTriggerSim(int index) : m_index{index} {}
int m_index;
};
} // namespace sim

20
wpilibc/src/main/native/include/frc/simulation/AccelerometerSim.h → wpilibc/src/main/native/include/frc/simulation/BuiltInAccelerometerSim.h
View File

@@ -13,12 +13,28 @@
#include <hal/simulation/AccelerometerData.h>
#include "CallbackStore.h"
#include "frc/BuiltInAccelerometer.h"
namespace frc {
namespace sim {
class AccelerometerSim {
/**
* Class to control a simulated built-in accelerometer.
*/
class BuiltInAccelerometerSim {
public:
explicit AccelerometerSim(int index) { m_index = index; }
/**
* Constructs for the first built-in accelerometer.
*/
BuiltInAccelerometerSim() : m_index{0} {}
/**
* Constructs from a BuiltInAccelerometer object.
*
* @param accel BuiltInAccelerometer to simulate
*/
explicit BuiltInAccelerometerSim(const BuiltInAccelerometer& accel)
: m_index{0} {}
std::unique_ptr<CallbackStore> RegisterActiveCallback(NotifyCallback callback,
bool initialNotify) {

37
wpilibc/src/main/native/include/frc/simulation/CallbackStore.h
View File

@@ -16,12 +16,17 @@ namespace frc {
namespace sim {
using NotifyCallback = std::function<void(wpi::StringRef, const HAL_Value*)>;
using ConstBufferCallback = std::function<void(
wpi::StringRef, const unsigned char* buffer, unsigned int count)>;
typedef void (*CancelCallbackFunc)(int32_t index, int32_t uid);
typedef void (*CancelCallbackNoIndexFunc)(int32_t uid);
typedef void (*CancelCallbackChannelFunc)(int32_t index, int32_t channel,
int32_t uid);
void CallbackStoreThunk(const char* name, void* param, const HAL_Value* value);
void ConstBufferCallbackStoreThunk(const char* name, void* param,
const unsigned char* buffer,
unsigned int count);
class CallbackStore {
public:
@@ -51,6 +56,33 @@ class CallbackStore {
cancelType = Channel;
}
CallbackStore(int32_t i, ConstBufferCallback cb,
CancelCallbackNoIndexFunc ccf) {
index = i;
constBufferCallback = cb;
this->ccnif = ccf;
cancelType = NoIndex;
}
CallbackStore(int32_t i, int32_t u, ConstBufferCallback cb,
CancelCallbackFunc ccf) {
index = i;
uid = u;
constBufferCallback = cb;
this->ccf = ccf;
cancelType = Normal;
}
CallbackStore(int32_t i, int32_t c, int32_t u, ConstBufferCallback cb,
CancelCallbackChannelFunc ccf) {
index = i;
channel = c;
uid = u;
constBufferCallback = cb;
this->cccf = ccf;
cancelType = Channel;
}
~CallbackStore() {
switch (cancelType) {
case Normal:
@@ -70,12 +102,17 @@ class CallbackStore {
friend void CallbackStoreThunk(const char* name, void* param,
const HAL_Value* value);
friend void ConstBufferCallbackStoreThunk(const char* name, void* param,
const unsigned char* buffer,
unsigned int count);
private:
int32_t index;
int32_t channel;
int32_t uid;
NotifyCallback callback;
ConstBufferCallback constBufferCallback;
union {
CancelCallbackFunc ccf;
CancelCallbackChannelFunc cccf;

27
wpilibc/src/main/native/include/frc/simulation/DIOSim.h
View File

@@ -13,12 +13,37 @@
#include <hal/simulation/DIOData.h>
#include "CallbackStore.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalOutput.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated digital input or output.
*/
class DIOSim {
public:
explicit DIOSim(int index) { m_index = index; }
/**
* Constructs from a DigitalInput object.
*
* @param input DigitalInput to simulate
*/
explicit DIOSim(const DigitalInput& input) : m_index{input.GetChannel()} {}
/**
* Constructs from a DigitalOutput object.
*
* @param output DigitalOutput to simulate
*/
explicit DIOSim(const DigitalOutput& output) : m_index{output.GetChannel()} {}
/**
* Constructs from an digital I/O channel number.
*
* @param channel Channel number
*/
explicit DIOSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {

43
wpilibc/src/main/native/include/frc/simulation/DigitalPWMSim.h
View File

@@ -7,18 +7,57 @@
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/DigitalPWMData.h>
#include "CallbackStore.h"
#include "frc/DigitalOutput.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated digital PWM output.
*
* This is for duty cycle PWM outputs on a DigitalOutput, not for the servo
* style PWM outputs on a PWM channel.
*/
class DigitalPWMSim {
public:
explicit DigitalPWMSim(int index) { m_index = index; }
/**
* Constructs from a DigitalOutput object.
*
* @param digitalOutput DigitalOutput to simulate
*/
explicit DigitalPWMSim(const DigitalOutput& digitalOutput)
: m_index{digitalOutput.GetChannel()} {}
/**
* Creates an DigitalPWMSim for a digital I/O channel.
*
* @param channel DIO channel
* @return Simulated object
* @throws std::out_of_range if no Digital PWM is configured for that channel
*/
static DigitalPWMSim CreateForChannel(int channel) {
int index = HALSIM_FindDigitalPWMForChannel(channel);
if (index < 0) throw std::out_of_range("no digital PWM found for channel");
return DigitalPWMSim{index};
}
/**
* Creates an DigitalPWMSim for a simulated index.
* The index is incremented for each simulated DigitalPWM.
*
* @param index simulator index
* @return Simulated object
*/
static DigitalPWMSim CreateForIndex(int index) {
return DigitalPWMSim{index};
}
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
@@ -68,6 +107,8 @@ class DigitalPWMSim {
void ResetData() { HALSIM_ResetDigitalPWMData(m_index); }
private:
explicit DigitalPWMSim(int index) : m_index{index} {}
int m_index;
};
} // namespace sim

50
wpilibc/src/main/native/include/frc/simulation/DriverStationSim.h
View File

@@ -16,9 +16,13 @@
namespace frc {
namespace sim {
/**
* Class to control a simulated driver station.
*/
class DriverStationSim {
public:
std::unique_ptr<CallbackStore> RegisterEnabledCallback(
static std::unique_ptr<CallbackStore> RegisterEnabledCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationEnabledCallback);
@@ -27,11 +31,13 @@ class DriverStationSim {
return store;
}
bool GetEnabled() const { return HALSIM_GetDriverStationEnabled(); }
static bool GetEnabled() { return HALSIM_GetDriverStationEnabled(); }
void SetEnabled(bool enabled) { HALSIM_SetDriverStationEnabled(enabled); }
static void SetEnabled(bool enabled) {
HALSIM_SetDriverStationEnabled(enabled);
}
std::unique_ptr<CallbackStore> RegisterAutonomousCallback(
static std::unique_ptr<CallbackStore> RegisterAutonomousCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationAutonomousCallback);
@@ -40,14 +46,14 @@ class DriverStationSim {
return store;
}
bool GetAutonomous() const { return HALSIM_GetDriverStationAutonomous(); }
static bool GetAutonomous() { return HALSIM_GetDriverStationAutonomous(); }
void SetAutonomous(bool autonomous) {
static void SetAutonomous(bool autonomous) {
HALSIM_SetDriverStationAutonomous(autonomous);
}
std::unique_ptr<CallbackStore> RegisterTestCallback(NotifyCallback callback,
bool initialNotify) {
static std::unique_ptr<CallbackStore> RegisterTestCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationTestCallback);
store->SetUid(HALSIM_RegisterDriverStationTestCallback(
@@ -55,12 +61,12 @@ class DriverStationSim {
return store;
}
bool GetTest() const { return HALSIM_GetDriverStationTest(); }
static bool GetTest() { return HALSIM_GetDriverStationTest(); }
void SetTest(bool test) { HALSIM_SetDriverStationTest(test); }
static void SetTest(bool test) { HALSIM_SetDriverStationTest(test); }
std::unique_ptr<CallbackStore> RegisterEStopCallback(NotifyCallback callback,
bool initialNotify) {
static std::unique_ptr<CallbackStore> RegisterEStopCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationEStopCallback);
store->SetUid(HALSIM_RegisterDriverStationEStopCallback(
@@ -68,11 +74,11 @@ class DriverStationSim {
return store;
}
bool GetEStop() const { return HALSIM_GetDriverStationEStop(); }
static bool GetEStop() { return HALSIM_GetDriverStationEStop(); }
void SetEStop(bool eStop) { HALSIM_SetDriverStationEStop(eStop); }
static void SetEStop(bool eStop) { HALSIM_SetDriverStationEStop(eStop); }
std::unique_ptr<CallbackStore> RegisterFmsAttachedCallback(
static std::unique_ptr<CallbackStore> RegisterFmsAttachedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationFmsAttachedCallback);
@@ -81,13 +87,13 @@ class DriverStationSim {
return store;
}
bool GetFmsAttached() const { return HALSIM_GetDriverStationFmsAttached(); }
static bool GetFmsAttached() { return HALSIM_GetDriverStationFmsAttached(); }
void SetFmsAttached(bool fmsAttached) {
static void SetFmsAttached(bool fmsAttached) {
HALSIM_SetDriverStationFmsAttached(fmsAttached);
}
std::unique_ptr<CallbackStore> RegisterDsAttachedCallback(
static std::unique_ptr<CallbackStore> RegisterDsAttachedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationDsAttachedCallback);
@@ -96,15 +102,15 @@ class DriverStationSim {
return store;
}
bool GetDsAttached() const { return HALSIM_GetDriverStationDsAttached(); }
static bool GetDsAttached() { return HALSIM_GetDriverStationDsAttached(); }
void SetDsAttached(bool dsAttached) {
static void SetDsAttached(bool dsAttached) {
HALSIM_SetDriverStationDsAttached(dsAttached);
}
void NotifyNewData() { HALSIM_NotifyDriverStationNewData(); }
static void NotifyNewData() { HALSIM_NotifyDriverStationNewData(); }
void ResetData() { HALSIM_ResetDriverStationData(); }
static void ResetData() { HALSIM_ResetDriverStationData(); }
};
} // namespace sim
} // namespace frc

38
wpilibc/src/main/native/include/frc/simulation/DutyCycleSim.h
View File

@@ -7,18 +7,52 @@
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/DutyCycleData.h>
#include "CallbackStore.h"
#include "frc/DutyCycle.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated duty cycle digital input.
*/
class DutyCycleSim {
public:
explicit DutyCycleSim(int index) { m_index = index; }
/**
* Constructs from a DutyCycle object.
*
* @param dutyCycle DutyCycle to simulate
*/
explicit DutyCycleSim(const DutyCycle& dutyCycle)
: m_index{dutyCycle.GetFPGAIndex()} {}
/**
* Creates a DutyCycleSim for a digital input channel.
*
* @param channel digital input channel
* @return Simulated object
* @throws std::out_of_range if no DutyCycle is configured for that channel
*/
static DutyCycleSim CreateForChannel(int channel) {
int index = HALSIM_FindDutyCycleForChannel(channel);
if (index < 0) throw std::out_of_range("no duty cycle found for channel");
return DutyCycleSim{index};
}
/**
* Creates a DutyCycleSim for a simulated index.
* The index is incremented for each simulated DutyCycle.
*
* @param index simulator index
* @return Simulated object
*/
static DutyCycleSim CreateForIndex(int index) { return DutyCycleSim{index}; }
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
@@ -66,6 +100,8 @@ class DutyCycleSim {
void ResetData() { HALSIM_ResetDutyCycleData(m_index); }
private:
explicit DutyCycleSim(int index) : m_index{index} {}
int m_index;
};
} // namespace sim

39
wpilibc/src/main/native/include/frc/simulation/EncoderSim.h
View File

@@ -7,18 +7,53 @@
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/EncoderData.h>
#include "CallbackStore.h"
#include "frc/Encoder.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated encoder.
*/
class EncoderSim {
public:
explicit EncoderSim(int index) { m_index = index; }
/**
* Constructs from an Encoder object.
*
* @param encoder Encoder to simulate
*/
explicit EncoderSim(const Encoder& encoder)
: m_index{encoder.GetFPGAIndex()} {}
/**
* Creates an EncoderSim for a digital input channel. Encoders take two
* channels, so either one may be specified.
*
* @param channel digital input channel
* @return Simulated object
* @throws NoSuchElementException if no Encoder is configured for that channel
*/
static EncoderSim CreateForChannel(int channel) {
int index = HALSIM_FindEncoderForChannel(channel);
if (index < 0) throw std::out_of_range("no encoder found for channel");
return EncoderSim{index};
}
/**
* Creates an EncoderSim for a simulated index.
* The index is incremented for each simulated Encoder.
*
* @param index simulator index
* @return Simulated object
*/
static EncoderSim CreateForIndex(int index) { return EncoderSim{index}; }
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
@@ -168,6 +203,8 @@ class EncoderSim {
double GetRate() { return HALSIM_GetEncoderRate(m_index); }
private:
explicit EncoderSim(int index) : m_index{index} {}
int m_index;
};
} // namespace sim

22
wpilibc/src/main/native/include/frc/simulation/PCMSim.h
View File

@@ -13,12 +13,32 @@
#include <hal/simulation/PCMData.h>
#include "CallbackStore.h"
#include "frc/Compressor.h"
#include "frc/SensorUtil.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated Pneumatic Control Module (PCM).
*/
class PCMSim {
public:
explicit PCMSim(int index) { m_index = index; }
/**
* Constructs from a PCM module number (CAN ID).
*
* @param module module number
*/
explicit PCMSim(int module = SensorUtil::GetDefaultSolenoidModule())
: m_index{module} {}
/**
* Constructs from a Compressor object.
*
* @param compressor Compressor connected to PCM to simulate
*/
explicit PCMSim(const Compressor& compressor)
: m_index{compressor.GetModule()} {}
std::unique_ptr<CallbackStore> RegisterSolenoidInitializedCallback(
int channel, NotifyCallback callback, bool initialNotify) {

20
wpilibc/src/main/native/include/frc/simulation/PDPSim.h
View File

@@ -13,12 +13,30 @@
#include <hal/simulation/PDPData.h>
#include "CallbackStore.h"
#include "frc/PowerDistributionPanel.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated Power Distribution Panel (PDP).
*/
class PDPSim {
public:
explicit PDPSim(int index) { m_index = index; }
/**
* Constructs from a PDP module number (CAN ID).
*
* @param module module number
*/
explicit PDPSim(int module = 0) : m_index{module} {}
/**
* Constructs from a PowerDistributionPanel object.
*
* @param pdp PowerDistributionPanel to simulate
*/
explicit PDPSim(const PowerDistributionPanel& pdp)
: m_index{pdp.GetModule()} {}
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {

19
wpilibc/src/main/native/include/frc/simulation/PWMSim.h
View File

@@ -13,12 +13,29 @@
#include <hal/simulation/PWMData.h>
#include "CallbackStore.h"
#include "frc/PWM.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated PWM output.
*/
class PWMSim {
public:
explicit PWMSim(int index) { m_index = index; }
/**
* Constructs from a PWM object.
*
* @param pwm PWM to simulate
*/
explicit PWMSim(const PWM& pwm) : m_index{pwm.GetChannel()} {}
/**
* Constructs from a PWM channel number.
*
* @param channel Channel number
*/
explicit PWMSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {

19
wpilibc/src/main/native/include/frc/simulation/RelaySim.h
View File

@@ -13,12 +13,29 @@
#include <hal/simulation/RelayData.h>
#include "CallbackStore.h"
#include "frc/Relay.h"
namespace frc {
namespace sim {
/**
* Class to control a simulated relay.
*/
class RelaySim {
public:
explicit RelaySim(int index) { m_index = index; }
/**
* Constructs from a Relay object.
*
* @param relay Relay to simulate
*/
explicit RelaySim(const Relay& relay) : m_index{relay.GetChannel()} {}
/**
* Constructs from a relay channel number.
*
* @param channel Channel number
*/
explicit RelaySim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> RegisterInitializedForwardCallback(
NotifyCallback callback, bool initialNotify) {

9
wpilibc/src/main/native/include/frc/simulation/SimDeviceSim.h
View File

@@ -20,8 +20,17 @@
namespace frc {
namespace sim {
/**
* Class to control the simulation side of a SimDevice.
*/
class SimDeviceSim {
public:
/**
* Constructs a SimDeviceSim.
*
* @param name name of the SimDevice
*/
explicit SimDeviceSim(const char* name)
: m_handle{HALSIM_GetSimDeviceHandle(name)} {}

20
wpilibc/src/main/native/include/frc/simulation/SimHooks.h
View File

@@ -12,23 +12,25 @@
namespace frc {
namespace sim {
void SetRuntimeType(HAL_RuntimeType type) { HALSIM_SetRuntimeType(type); }
inline void SetRuntimeType(HAL_RuntimeType type) {
HALSIM_SetRuntimeType(type);
}
void WaitForProgramStart() { HALSIM_WaitForProgramStart(); }
inline void WaitForProgramStart() { HALSIM_WaitForProgramStart(); }
void SetProgramStarted() { HALSIM_SetProgramStarted(); }
inline void SetProgramStarted() { HALSIM_SetProgramStarted(); }
bool GetProgramStarted() { return HALSIM_GetProgramStarted(); }
inline bool GetProgramStarted() { return HALSIM_GetProgramStarted(); }
void RestartTiming() { HALSIM_RestartTiming(); }
inline void RestartTiming() { HALSIM_RestartTiming(); }
void PauseTiming() { HALSIM_PauseTiming(); }
inline void PauseTiming() { HALSIM_PauseTiming(); }
void ResumeTiming() { HALSIM_ResumeTiming(); }
inline void ResumeTiming() { HALSIM_ResumeTiming(); }
bool IsTimingPaused() { return HALSIM_IsTimingPaused(); }
inline bool IsTimingPaused() { return HALSIM_IsTimingPaused(); }
void StepTiming(uint64_t delta) { HALSIM_StepTiming(delta); }
inline void StepTiming(uint64_t delta) { HALSIM_StepTiming(delta); }
} // namespace sim
} // namespace frc

4
wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp
View File

@@ -5,7 +5,7 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/simulation/AccelerometerSim.h" // NOLINT(build/include_order)
#include "frc/simulation/BuiltInAccelerometerSim.h" // NOLINT(build/include_order)
#include <hal/Accelerometer.h>
#include <hal/HAL.h>
@@ -17,7 +17,7 @@ using namespace frc::sim;
TEST(AcclerometerSimTests, TestActiveCallback) {
HAL_Initialize(500, 0);
AccelerometerSim sim{0};
BuiltInAccelerometerSim sim;
sim.ResetData();

26
wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
View File

@@ -5,16 +5,20 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <exception>
#include <hal/HAL.h>
#include "frc/simulation/AccelerometerSim.h"
#include "frc/simulation/AddressableLEDSim.h"
#include "frc/simulation/AnalogGyroSim.h"
#include "frc/simulation/AnalogInSim.h"
#include "frc/simulation/AnalogOutSim.h"
#include "frc/simulation/AnalogInputSim.h"
#include "frc/simulation/AnalogOutputSim.h"
#include "frc/simulation/AnalogTriggerSim.h"
#include "frc/simulation/BuiltInAccelerometerSim.h"
#include "frc/simulation/DIOSim.h"
#include "frc/simulation/DigitalPWMSim.h"
#include "frc/simulation/DriverStationSim.h"
#include "frc/simulation/DutyCycleSim.h"
#include "frc/simulation/EncoderSim.h"
#include "frc/simulation/PCMSim.h"
#include "frc/simulation/PDPSim.h"
@@ -28,16 +32,17 @@ using namespace frc::sim;
TEST(SimInitializationTests, TestAllInitialize) {
HAL_Initialize(500, 0);
AccelerometerSim acsim{0};
BuiltInAccelerometerSim biacsim;
AnalogGyroSim agsim{0};
AnalogInSim aisim{0};
AnalogOutSim aosim{0};
AnalogTriggerSim atsim{0};
DigitalPWMSim dpsim{0};
AnalogInputSim aisim{0};
AnalogOutputSim aosim{0};
EXPECT_THROW(AnalogTriggerSim::CreateForChannel(0), std::out_of_range);
EXPECT_THROW(DigitalPWMSim::CreateForChannel(0), std::out_of_range);
DIOSim diosim{0};
DriverStationSim dssim;
(void)dssim;
EncoderSim esim{0};
EncoderSim esim = EncoderSim::CreateForIndex(0);
(void)esim;
PCMSim pcmsim{0};
PDPSim pdpsim{0};
PWMSim pwmsim{0};
@@ -45,4 +50,7 @@ TEST(SimInitializationTests, TestAllInitialize) {
RoboRioSim rrsim;
(void)rrsim;
SPIAccelerometerSim sasim{0};
DutyCycleSim dcsim = DutyCycleSim::CreateForIndex(0);
(void)dcsim;
AddressableLEDSim adLED;
}

13
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -184,7 +184,16 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
*
* @param volts The size of the deadband in volts
*/
void setDeadband(double volts) {
public void setDeadband(double volts) {
AnalogGyroJNI.setAnalogGyroDeadband(m_gyroHandle, volts);
}
/**
* Gets the analog input for the gyro.
*
* @return AnalogInput
*/
public AnalogInput getAnalogInput() {
return m_analog;
}
}

11
wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -196,6 +196,15 @@ public class Compressor implements Sendable, AutoCloseable {
CompressorJNI.clearAllPCMStickyFaults(m_module);
}
/**
* Gets the module number (CAN ID).
*
* @return Module number
*/
public int getModule() {
return m_module;
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Compressor");

11
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 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. */
@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
*/
public class PowerDistributionPanel implements Sendable, AutoCloseable {
private final int m_handle;
private final int m_module;
/**
* Constructor.
@@ -28,6 +29,7 @@ public class PowerDistributionPanel implements Sendable, AutoCloseable {
public PowerDistributionPanel(int module) {
SensorUtil.checkPDPModule(module);
m_handle = PDPJNI.initializePDP(module);
m_module = module;
HAL.report(tResourceType.kResourceType_PDP, module + 1);
SendableRegistry.addLW(this, "PowerDistributionPanel", module);
@@ -117,6 +119,13 @@ public class PowerDistributionPanel implements Sendable, AutoCloseable {
PDPJNI.clearPDPStickyFaults(m_handle);
}
/**
* Gets module number (CAN ID).
*/
public int getModule() {
return m_module;
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("PowerDistributionPanel");

51
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSim.java
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@@ -10,14 +10,63 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AddressableLEDDataJNI;
import edu.wpi.first.hal.simulation.ConstBufferCallback;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AddressableLED;
import java.util.NoSuchElementException;
/**
* Class to control a simulated addressable LED.
*/
public class AddressableLEDSim {
private final int m_index;
public AddressableLEDSim(int index) {
/**
* Constructs for the first addressable LED.
*/
public AddressableLEDSim() {
m_index = 0;
}
/**
* Constructs from an AddressableLED object.
*
* @param addressableLED AddressableLED to simulate
*/
@SuppressWarnings("PMD.UnusedFormalParameter")
public AddressableLEDSim(AddressableLED addressableLED) {
// there is only support for a single AddressableLED, so no lookup
m_index = 0;
}
private AddressableLEDSim(int index) {
m_index = index;
}
/**
* Creates an AddressableLEDSim for a PWM channel.
*
* @param pwmChannel PWM channel
* @return Simulated object
* @throws NoSuchElementException if no AddressableLED is configured for that channel
*/
public static AddressableLEDSim createForChannel(int pwmChannel) {
int index = AddressableLEDDataJNI.findForChannel(pwmChannel);
if (index < 0) {
throw new NoSuchElementException("no addressable LED found for PWM channel " + pwmChannel);
}
return new AddressableLEDSim(index);
}
/**
* Creates an AddressableLEDSim for a simulated index.
* The index is incremented for each simulated AddressableLED.
*
* @param index simulator index
* @return Simulated object
*/
public static AddressableLEDSim createForIndex(int index) {
return new AddressableLEDSim(index);
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AddressableLEDDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelInitializedCallback);

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSim.java
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@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AnalogGyroDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AnalogGyro;
/**
* Class to control a simulated analog gyro.
*/
public class AnalogGyroSim {
private final int m_index;
public AnalogGyroSim(int index) {
m_index = index;
/**
* Constructs from an AnalogGyro object.
*
* @param gyro AnalogGyro to simulate
*/
public AnalogGyroSim(AnalogGyro gyro) {
m_index = gyro.getAnalogInput().getChannel();
}
/**
* Constructs from an analog input channel number.
*
* @param channel Channel number
*/
public AnalogGyroSim(int channel) {
m_index = channel;
}
public CallbackStore registerAngleCallback(NotifyCallback callback, boolean initialNotify) {

25
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInSim.java → wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInputSim.java
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@@ -9,12 +9,31 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AnalogInDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AnalogInput;
public class AnalogInSim {
/**
* Class to control a simulated analog input.
*/
@SuppressWarnings("PMD.TooManyMethods")
public class AnalogInputSim {
private final int m_index;
public AnalogInSim(int index) {
m_index = index;
/**
* Constructs from an AnalogInput object.
*
* @param analogInput AnalogInput to simulate
*/
public AnalogInputSim(AnalogInput analogInput) {
m_index = analogInput.getChannel();
}
/**
* Constructs from an analog input channel number.
*
* @param channel Channel number
*/
public AnalogInputSim(int channel) {
m_index = channel;
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutSim.java → wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSim.java
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@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AnalogOutDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AnalogOutput;
public class AnalogOutSim {
/**
* Class to control a simulated analog output.
*/
public class AnalogOutputSim {
private final int m_index;
public AnalogOutSim(int index) {
m_index = index;
/**
* Constructs from an AnalogOutput object.
*
* @param analogOutput AnalogOutput to simulate
*/
public AnalogOutputSim(AnalogOutput analogOutput) {
m_index = analogOutput.getChannel();
}
/**
* Constructs from an analog output channel number.
*
* @param channel Channel number
*/
public AnalogOutputSim(int channel) {
m_index = channel;
}
public CallbackStore registerVoltageCallback(NotifyCallback callback, boolean initialNotify) {

42
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogTriggerSim.java
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@@ -9,14 +9,54 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AnalogTriggerDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AnalogTrigger;
import java.util.NoSuchElementException;
/**
* Class to control a simulated analog trigger.
*/
public class AnalogTriggerSim {
private final int m_index;
public AnalogTriggerSim(int index) {
/**
* Constructs from an AnalogTrigger object.
*
* @param analogTrigger AnalogTrigger to simulate
*/
public AnalogTriggerSim(AnalogTrigger analogTrigger) {
m_index = analogTrigger.getIndex();
}
private AnalogTriggerSim(int index) {
m_index = index;
}
/**
* Creates an AnalogTriggerSim for an analog input channel.
*
* @param channel analog input channel
* @return Simulated object
* @throws NoSuchElementException if no AnalogTrigger is configured for that channel
*/
public static AnalogTriggerSim createForChannel(int channel) {
int index = AnalogTriggerDataJNI.findForChannel(channel);
if (index < 0) {
throw new NoSuchElementException("no analog trigger found for channel " + channel);
}
return new AnalogTriggerSim(index);
}
/**
* Creates an AnalogTriggerSim for a simulated index.
* The index is incremented for each simulated AnalogTrigger.
*
* @param index simulator index
* @return Simulated object
*/
public static AnalogTriggerSim createForIndex(int index) {
return new AnalogTriggerSim(index);
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AnalogTriggerDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelInitializedCallback);

21
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AccelerometerSim.java → wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java
View File

@@ -9,11 +9,28 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AccelerometerDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
public class AccelerometerSim {
/**
* Class to control a simulated built-in accelerometer.
*/
public class BuiltInAccelerometerSim {
private final int m_index;
public AccelerometerSim() {
/**
* Constructs for the first built-in accelerometer.
*/
public BuiltInAccelerometerSim() {
m_index = 0;
}
/**
* Constructs from a BuiltInAccelerometer object.
*
* @param accel BuiltInAccelerometer to simulate
*/
@SuppressWarnings("PMD.UnusedFormalParameter")
public BuiltInAccelerometerSim(BuiltInAccelerometer accel) {
m_index = 0;
}

32
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java
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@@ -9,12 +9,40 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.DIODataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
/**
* Class to control a simulated digital input or output.
*/
public class DIOSim {
private final int m_index;
public DIOSim(int index) {
m_index = index;
/**
* Constructs from a DigitalInput object.
*
* @param input DigitalInput to simulate
*/
public DIOSim(DigitalInput input) {
m_index = input.getChannel();
}
/**
* Constructs from a DigitalOutput object.
*
* @param output DigitalOutput to simulate
*/
public DIOSim(DigitalOutput output) {
m_index = output.getChannel();
}
/**
* Constructs from an digital I/O channel number.
*
* @param channel Channel number
*/
public DIOSim(int channel) {
m_index = channel;
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

45
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSim.java
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@@ -9,14 +9,57 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.DigitalPWMDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.DigitalOutput;
import java.util.NoSuchElementException;
/**
* Class to control a simulated digital PWM output.
*
* <p>This is for duty cycle PWM outputs on a DigitalOutput, not for the servo
* style PWM outputs on a PWM channel.
*/
public class DigitalPWMSim {
private final int m_index;
public DigitalPWMSim(int index) {
/**
* Constructs from a DigitalOutput object.
*
* @param digitalOutput DigitalOutput to simulate
*/
public DigitalPWMSim(DigitalOutput digitalOutput) {
m_index = digitalOutput.getChannel();
}
private DigitalPWMSim(int index) {
m_index = index;
}
/**
* Creates an DigitalPWMSim for a digital I/O channel.
*
* @param channel DIO channel
* @return Simulated object
* @throws NoSuchElementException if no Digital PWM is configured for that channel
*/
public static DigitalPWMSim createForChannel(int channel) {
int index = DigitalPWMDataJNI.findForChannel(channel);
if (index < 0) {
throw new NoSuchElementException("no digital PWM found for channel " + channel);
}
return new DigitalPWMSim(index);
}
/**
* Creates an DigitalPWMSim for a simulated index.
* The index is incremented for each simulated DigitalPWM.
*
* @param index simulator index
* @return Simulated object
*/
public static DigitalPWMSim createForIndex(int index) {
return new DigitalPWMSim(index);
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DigitalPWMDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, DigitalPWMDataJNI::cancelInitializedCallback);

46
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
View File

@@ -10,73 +10,77 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.DriverStationDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
/**
* Class to control a simulated driver station.
*/
@SuppressWarnings("PMD.UseUtilityClass")
public class DriverStationSim {
public CallbackStore registerEnabledCallback(NotifyCallback callback, boolean initialNotify) {
public static CallbackStore registerEnabledCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DriverStationDataJNI.registerEnabledCallback(callback, initialNotify);
return new CallbackStore(uid, DriverStationDataJNI::cancelEnabledCallback);
}
public boolean getEnabled() {
public static boolean getEnabled() {
return DriverStationDataJNI.getEnabled();
}
public void setEnabled(boolean enabled) {
public static void setEnabled(boolean enabled) {
DriverStationDataJNI.setEnabled(enabled);
}
public CallbackStore registerAutonomousCallback(NotifyCallback callback, boolean initialNotify) {
public static CallbackStore registerAutonomousCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DriverStationDataJNI.registerAutonomousCallback(callback, initialNotify);
return new CallbackStore(uid, DriverStationDataJNI::cancelAutonomousCallback);
}
public boolean getAutonomous() {
public static boolean getAutonomous() {
return DriverStationDataJNI.getAutonomous();
}
public void setAutonomous(boolean autonomous) {
public static void setAutonomous(boolean autonomous) {
DriverStationDataJNI.setAutonomous(autonomous);
}
public CallbackStore registerTestCallback(NotifyCallback callback, boolean initialNotify) {
public static CallbackStore registerTestCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DriverStationDataJNI.registerTestCallback(callback, initialNotify);
return new CallbackStore(uid, DriverStationDataJNI::cancelTestCallback);
}
public boolean getTest() {
public static boolean getTest() {
return DriverStationDataJNI.getTest();
}
public void setTest(boolean test) {
public static void setTest(boolean test) {
DriverStationDataJNI.setTest(test);
}
public CallbackStore registerEStopCallback(NotifyCallback callback, boolean initialNotify) {
public static CallbackStore registerEStopCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DriverStationDataJNI.registerEStopCallback(callback, initialNotify);
return new CallbackStore(uid, DriverStationDataJNI::cancelEStopCallback);
}
public boolean getEStop() {
public static boolean getEStop() {
return DriverStationDataJNI.getEStop();
}
public void setEStop(boolean eStop) {
public static void setEStop(boolean eStop) {
DriverStationDataJNI.setEStop(eStop);
}
public CallbackStore registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
public static CallbackStore registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DriverStationDataJNI.registerFmsAttachedCallback(callback, initialNotify);
return new CallbackStore(uid, DriverStationDataJNI::cancelFmsAttachedCallback);
}
public boolean getFmsAttached() {
public static boolean getFmsAttached() {
return DriverStationDataJNI.getFmsAttached();
}
public void setFmsAttached(boolean fmsAttached) {
public static void setFmsAttached(boolean fmsAttached) {
DriverStationDataJNI.setFmsAttached(fmsAttached);
}
public CallbackStore registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
public static CallbackStore registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DriverStationDataJNI.registerDsAttachedCallback(callback, initialNotify);
return new CallbackStore(uid, DriverStationDataJNI::cancelDsAttachedCallback);
}
public boolean getDsAttached() {
public static boolean getDsAttached() {
return DriverStationDataJNI.getDsAttached();
}
public void setDsAttached(boolean dsAttached) {
public static void setDsAttached(boolean dsAttached) {
DriverStationDataJNI.setDsAttached(dsAttached);
}
public void notifyNewData() {
public static void notifyNewData() {
DriverStationDataJNI.notifyNewData();
}
@@ -85,11 +89,11 @@ public class DriverStationSim {
*
* @param shouldSend If false then messages will will be suppressed.
*/
public void setSendError(boolean shouldSend) {
public static void setSendError(boolean shouldSend) {
DriverStationDataJNI.setSendError(shouldSend);
}
public void resetData() {
public static void resetData() {
DriverStationDataJNI.resetData();
}
}

42
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleSim.java
View File

@@ -9,14 +9,54 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.DutyCycleDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.DutyCycle;
import java.util.NoSuchElementException;
/**
* Class to control a simulated duty cycle digital input.
*/
public class DutyCycleSim {
private final int m_index;
public DutyCycleSim(int index) {
/**
* Constructs from a DutyCycle object.
*
* @param dutyCycle DutyCycle to simulate
*/
public DutyCycleSim(DutyCycle dutyCycle) {
m_index = dutyCycle.getFPGAIndex();
}
private DutyCycleSim(int index) {
m_index = index;
}
/**
* Creates a DutyCycleSim for a digital input channel.
*
* @param channel digital input channel
* @return Simulated object
* @throws NoSuchElementException if no DutyCycle is configured for that channel
*/
public static DutyCycleSim createForChannel(int channel) {
int index = DutyCycleDataJNI.findForChannel(channel);
if (index < 0) {
throw new NoSuchElementException("no duty cycle found for channel " + channel);
}
return new DutyCycleSim(index);
}
/**
* Creates a DutyCycleSim for a simulated index.
* The index is incremented for each simulated DutyCycle.
*
* @param index simulator index
* @return Simulated object
*/
public static DutyCycleSim createForIndex(int index) {
return new DutyCycleSim(index);
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = DutyCycleDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelInitializedCallback);

44
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/EncoderSim.java
View File

@@ -9,14 +9,56 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.EncoderDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.Encoder;
import java.util.NoSuchElementException;
/**
* Class to control a simulated encoder.
*/
@SuppressWarnings("PMD.TooManyMethods")
public class EncoderSim {
private final int m_index;
public EncoderSim(int index) {
/**
* Constructs from an Encoder object.
*
* @param encoder Encoder to simulate
*/
public EncoderSim(Encoder encoder) {
m_index = encoder.getFPGAIndex();
}
private EncoderSim(int index) {
m_index = index;
}
/**
* Creates an EncoderSim for a digital input channel. Encoders take two
* channels, so either one may be specified.
*
* @param channel digital input channel
* @return Simulated object
* @throws NoSuchElementException if no Encoder is configured for that channel
*/
public static EncoderSim createForChannel(int channel) {
int index = EncoderDataJNI.findForChannel(channel);
if (index < 0) {
throw new NoSuchElementException("no encoder found for channel " + channel);
}
return new EncoderSim(index);
}
/**
* Creates an EncoderSim for a simulated index.
* The index is incremented for each simulated Encoder.
*
* @param index simulator index
* @return Simulated object
*/
public static EncoderSim createForIndex(int index) {
return new EncoderSim(index);
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = EncoderDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, EncoderDataJNI::cancelInitializedCallback);

13
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/NotifierSim.java
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@@ -9,14 +9,27 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.NotifierDataJNI;
/**
* Class to control simulated notifiers.
*/
public final class NotifierSim {
private NotifierSim() {
}
/**
* Gets the timeout of the next notifier.
*
* @return Timestamp
*/
public static long getNextTimeout() {
return NotifierDataJNI.getNextTimeout();
}
/**
* Gets the total number of notifiers.
*
* @return Count
*/
public static int getNumNotifiers() {
return NotifierDataJNI.getNumNotifiers();
}

30
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PCMSim.java
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@@ -9,12 +9,38 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.PCMDataJNI;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.SensorUtil;
/**
* Class to control a simulated Pneumatic Control Module (PCM).
*/
public class PCMSim {
private final int m_index;
public PCMSim(int index) {
m_index = index;
/**
* Constructs for the default PCM.
*/
public PCMSim() {
m_index = SensorUtil.getDefaultSolenoidModule();
}
/**
* Constructs from a PCM module number (CAN ID).
*
* @param module module number
*/
public PCMSim(int module) {
m_index = module;
}
/**
* Constructs from a Compressor object.
*
* @param compressor Compressor connected to PCM to simulate
*/
public PCMSim(Compressor compressor) {
m_index = compressor.getModule();
}
public CallbackStore registerSolenoidInitializedCallback(int channel, NotifyCallback callback, boolean initialNotify) {

29
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PDPSim.java
View File

@@ -9,12 +9,37 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.PDPDataJNI;
import edu.wpi.first.wpilibj.PowerDistributionPanel;
/**
* Class to control a simulated Power Distribution Panel (PDP).
*/
public class PDPSim {
private final int m_index;
public PDPSim(int index) {
m_index = index;
/**
* Constructs for the default PDP.
*/
public PDPSim() {
m_index = 0;
}
/**
* Constructs from a PDP module number (CAN ID).
*
* @param module module number
*/
public PDPSim(int module) {
m_index = module;
}
/**
* Constructs from a PowerDistributionPanel object.
*
* @param pdp PowerDistributionPanel to simulate
*/
public PDPSim(PowerDistributionPanel pdp) {
m_index = pdp.getModule();
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java
View File

@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.PWMDataJNI;
import edu.wpi.first.wpilibj.PWM;
/**
* Class to control a simulated PWM output.
*/
public class PWMSim {
private final int m_index;
public PWMSim(int index) {
m_index = index;
/**
* Constructs from a PWM object.
*
* @param pwm PWM to simulate
*/
public PWMSim(PWM pwm) {
m_index = pwm.getChannel();
}
/**
* Constructs from a PWM channel number.
*
* @param channel Channel number
*/
public PWMSim(int channel) {
m_index = channel;
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RelaySim.java
View File

@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.RelayDataJNI;
import edu.wpi.first.wpilibj.Relay;
/**
* Class to control a simulated relay.
*/
public class RelaySim {
private final int m_index;
public RelaySim(int index) {
m_index = index;
/**
* Constructs from a Relay object.
*
* @param relay Relay to simulate
*/
public RelaySim(Relay relay) {
m_index = relay.getChannel();
}
/**
* Constructs from a relay channel number.
*
* @param channel Channel number
*/
public RelaySim(int channel) {
m_index = channel;
}
public CallbackStore registerInitializedForwardCallback(NotifyCallback callback, boolean initialNotify) {

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPISim.java
View File

@@ -16,8 +16,8 @@ import edu.wpi.first.hal.simulation.SpiReadAutoReceiveBufferCallback;
public class SPISim {
private final int m_index;
public SPISim(int index) {
m_index = index;
public SPISim() {
m_index = 0;
}
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimDeviceSim.java
View File

@@ -15,9 +15,17 @@ import edu.wpi.first.hal.simulation.SimDeviceCallback;
import edu.wpi.first.hal.simulation.SimDeviceDataJNI;
import edu.wpi.first.hal.simulation.SimValueCallback;
/**
* Class to control the simulation side of a SimDevice.
*/
public class SimDeviceSim {
private final int m_handle;
/**
* Constructs a SimDeviceSim.
*
* @param name name of the SimDevice
*/
public SimDeviceSim(String name) {
m_handle = SimDeviceDataJNI.getSimDeviceHandle(name);
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java
View File

@@ -24,7 +24,7 @@ class AccelerometerSimTest {
@Test
void testCallbacks() {
HAL.initialize(500, 0);
AccelerometerSim sim = new AccelerometerSim();
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
TriggeredStore store = new TriggeredStore();

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
View File

@@ -26,7 +26,7 @@ class AnalogInputSimTest {
HAL.initialize(500, 0);
AnalogInput input = new AnalogInput(5);
AnalogInSim inputSim = new AnalogInSim(5);
AnalogInputSim inputSim = new AnalogInputSim(input);
for (double i = 0; i < 5.0; i += 0.1) {
inputSim.setVoltage(0);

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
View File

@@ -37,7 +37,7 @@ class AnalogOutputSimTest {
AnalogOutput output = new AnalogOutput(0);
output.setVoltage(0.5);
AnalogOutSim outputSim = new AnalogOutSim(0);
AnalogOutputSim outputSim = new AnalogOutputSim(output);
DoubleStore store = new DoubleStore();