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[sim] Add HALSIM accessors for encoder rate and distance (#2467)

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This commit is contained in:
Thad House
2020-04-03 08:33:38 -07:00
committed by GitHub
parent 2b188b54d8
commit 3ed2908563
6 changed files with 116 additions and 6 deletions
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7
hal/src/main/native/include/mockdata/EncoderData.h
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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. */
@@ -93,6 +93,11 @@ void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
void HALSIM_SetEncoderDistance(int32_t index, double distance);
double HALSIM_GetEncoderDistance(int32_t index);
void HALSIM_SetEncoderRate(int32_t index, double rate);
double HALSIM_GetEncoderRate(int32_t index);
#ifdef __cplusplus
} // extern "C"
#endif

12
hal/src/main/native/include/simulation/EncoderSim.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* 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. */
@@ -156,6 +156,16 @@ class EncoderSim {
void ResetData() { HALSIM_ResetEncoderData(m_index); }
void SetDistance(double distance) {
HALSIM_SetEncoderDistance(m_index, distance);
}
double GetDistance() { return HALSIM_GetEncoderDistance(m_index); }
void SetRate(double rate) { HALSIM_SetEncoderRate(m_index, rate); }
double GetRate() { return HALSIM_GetEncoderRate(m_index); }
private:
int m_index;
};

50
hal/src/main/native/sim/jni/EncoderDataJNI.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* 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. */
@@ -413,6 +413,54 @@ Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_setSamplesToAverage
HALSIM_SetEncoderSamplesToAverage(index, value);
}
/*
* Class: edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
* Method: setDistance
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_setDistance
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetEncoderDistance(index, value);
}
/*
* Class: edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
* Method: getDistance
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_getDistance
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetEncoderDistance(index);
}
/*
* Class: edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
* Method: setRate
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_setRate
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetEncoderRate(index, value);
}
/*
* Class: edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
* Method: getRate
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_getRate
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetEncoderRate(index);
}
/*
* Class: edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
* Method: resetData

28
hal/src/main/native/sim/mockdata/EncoderData.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. */
@@ -66,6 +66,32 @@ DEFINE_CAPI(HAL_Bool, ReverseDirection, reverseDirection)
DEFINE_CAPI(int32_t, SamplesToAverage, samplesToAverage)
DEFINE_CAPI(double, DistancePerPulse, distancePerPulse)
void HALSIM_SetEncoderDistance(int32_t index, double distance) {
auto& simData = SimEncoderData[index];
simData.count = distance / simData.distancePerPulse;
}
double HALSIM_GetEncoderDistance(int32_t index) {
auto& simData = SimEncoderData[index];
return simData.count * simData.distancePerPulse;
}
void HALSIM_SetEncoderRate(int32_t index, double rate) {
auto& simData = SimEncoderData[index];
if (rate == 0) {
simData.period = std::numeric_limits<double>::infinity();
return;
}
simData.period = simData.distancePerPulse / rate;
}
double HALSIM_GetEncoderRate(int32_t index) {
auto& simData = SimEncoderData[index];
return simData.distancePerPulse / simData.period;
}
#define REGISTER(NAME) \
SimEncoderData[index].NAME.RegisterCallback(callback, param, initialNotify)