[hal, wpilib] Add initial systemcore counter implementation (#7723)

wpilibcExamples/src/test/cpp/examples/UltrasonicPID/cpp/UltrasonicPIDTest.cpp

@@ -1,109 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <string>
-#include <thread>
-
-#include <frc/RobotController.h>
-#include <frc/simulation/DifferentialDrivetrainSim.h>
-#include <frc/simulation/DriverStationSim.h>
-#include <frc/simulation/PWMSim.h>
-#include <frc/simulation/SimHooks.h>
-#include <frc/simulation/UltrasonicSim.h>
-#include <frc/system/plant/DCMotor.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <gtest/gtest.h>
-#include <hal/simulation/MockHooks.h>
-#include <units/angle.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/time.h>
-
-#include "Robot.h"
-
-class UltrasonicPIDTest : public testing::TestWithParam<double> {
-  frc::DCMotor m_gearbox = frc::DCMotor::Falcon500(2);
-  static constexpr auto kGearing =
-      frc::sim::DifferentialDrivetrainSim::KitbotGearing::k10p71;
-  static constexpr auto kvLinear = 1.98 * 1_V / 1_mps;
-  static constexpr auto kaLinear = 0.2 * 1_V / 1_mps_sq;
-  static constexpr auto kvVoltAngular = 1.5 * 1_V / 1_rad_per_s;
-  static constexpr auto kaAngular = 0.3 * 1_V / 1_rad_per_s_sq;
-  static constexpr auto kWheelDiameter = 0.15_m;
-  static constexpr auto kTrackwidth = 0.7_m;
-
-  Robot m_robot;
-  std::optional<std::thread> m_thread;
-
- protected:
-  frc::sim::DifferentialDrivetrainSim m_driveSim{
-      frc::LinearSystemId::IdentifyDrivetrainSystem(
-          kvLinear, kaLinear, kvVoltAngular, kaAngular, kTrackwidth),
-      kTrackwidth, m_gearbox, kGearing, kWheelDiameter / 2.0};
-  frc::sim::PWMSim m_leftMotorSim{Robot::kLeftMotorPort};
-  frc::sim::PWMSim m_rightMotorSim{Robot::kRightMotorPort};
-  frc::sim::UltrasonicSim m_ultrasonicSim{Robot::kUltrasonicPingPort,
-                                          Robot::kUltrasonicEchoPort};
-  int32_t m_callback;
-
-  units::millimeter_t m_distance;
-
- public:
-  void SimPeriodicBefore() {
-    m_driveSim.SetInputs(
-        m_leftMotorSim.GetSpeed() * frc::RobotController::GetBatteryVoltage(),
-        m_rightMotorSim.GetSpeed() * frc::RobotController::GetBatteryVoltage());
-    m_driveSim.Update(20_ms);
-
-    auto startingDistance = units::meter_t{GetParam()};
-    m_distance = m_driveSim.GetLeftPosition() - startingDistance;
-
-    m_ultrasonicSim.SetRange(m_distance);
-  }
-
-  static void CallSimPeriodicBefore(void* param) {
-    static_cast<UltrasonicPIDTest*>(param)->SimPeriodicBefore();
-  }
-
-  void SetUp() override {
-    frc::sim::PauseTiming();
-    frc::sim::DriverStationSim::ResetData();
-
-    m_callback =
-        HALSIM_RegisterSimPeriodicBeforeCallback(CallSimPeriodicBefore, this);
-
-    m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    frc::sim::StepTiming(0.0_ms);  // Wait for Notifiers
-  }
-
-  void TearDown() override {
-    m_robot.EndCompetition();
-    m_thread->join();
-
-    HALSIM_CancelSimPeriodicBeforeCallback(m_callback);
-    m_leftMotorSim.ResetData();
-    m_rightMotorSim.ResetData();
-  }
-};
-
-TEST_P(UltrasonicPIDTest, Auto) {
-  // auto init
-  {
-    frc::sim::DriverStationSim::SetAutonomous(true);
-    frc::sim::DriverStationSim::SetEnabled(true);
-    frc::sim::DriverStationSim::NotifyNewData();
-
-    EXPECT_TRUE(m_leftMotorSim.GetInitialized());
-    EXPECT_TRUE(m_rightMotorSim.GetInitialized());
-  }
-
-  {
-    frc::sim::StepTiming(5_s);
-
-    EXPECT_NEAR(Robot::kHoldDistance.value(), m_distance.value(), 10.0);
-  }
-}
-
-INSTANTIATE_TEST_SUITE_P(UltrasonicPIDTests, UltrasonicPIDTest,
-                         testing::Values(1.3, 0.5, 5.0));

wpilibcExamples/src/test/cpp/examples/UltrasonicPID/cpp/main.cpp

@@ -1,16 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <gtest/gtest.h>
-#include <hal/HALBase.h>
-
-/**
- * Runs all unit tests.
- */
-int main(int argc, char** argv) {
-  HAL_Initialize(500, 0);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  return ret;
-}