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[hal, wpilib] Remove relay (#7695)

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This commit is contained in:
Thad House
2025-01-16 23:20:07 -08:00
committed by GitHub
parent d9f8fded09
commit 5017393b3a
54 changed files with 1 additions and 3115 deletions
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117
simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp
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@@ -1,117 +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 "RelaySimGui.h"
#include <memory>
#include <vector>
#include <glass/hardware/Relay.h>
#include <hal/Ports.h>
#include <hal/simulation/RelayData.h>
#include <wpigui.h>
#include "HALDataSource.h"
#include "HALSimGui.h"
using namespace halsimgui;
namespace {
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(RelayForward, "RelayFwd");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(RelayReverse, "RelayRev");
class RelaySimModel : public glass::RelayModel {
public:
explicit RelaySimModel(int32_t index)
: m_index{index}, m_forward{index}, m_reverse{index} {}
void Update() override {}
bool Exists() override {
return HALSIM_GetRelayInitializedForward(m_index) ||
HALSIM_GetRelayInitializedReverse(m_index);
}
glass::BooleanSource* GetForwardData() override {
return HALSIM_GetRelayInitializedForward(m_index) ? &m_forward : nullptr;
}
glass::BooleanSource* GetReverseData() override {
return HALSIM_GetRelayInitializedReverse(m_index) ? &m_reverse : nullptr;
}
void SetForward(bool val) override { HALSIM_SetRelayForward(m_index, val); }
void SetReverse(bool val) override { HALSIM_SetRelayReverse(m_index, val); }
private:
int32_t m_index;
RelayForwardSource m_forward;
RelayReverseSource m_reverse;
};
class RelaysSimModel : public glass::RelaysModel {
public:
RelaysSimModel() : m_models(HAL_GetNumRelayHeaders()) {}
void Update() override;
bool Exists() override { return true; }
void ForEachRelay(wpi::function_ref<void(glass::RelayModel& model, int index)>
func) override;
private:
// indexed by channel
std::vector<std::unique_ptr<RelaySimModel>> m_models;
};
} // namespace
void RelaysSimModel::Update() {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
auto& model = m_models[i];
if (HALSIM_GetRelayInitializedForward(i) ||
HALSIM_GetRelayInitializedReverse(i)) {
if (!model) {
model = std::make_unique<RelaySimModel>(i);
}
} else {
model.reset();
}
}
}
void RelaysSimModel::ForEachRelay(
wpi::function_ref<void(glass::RelayModel& model, int index)> func) {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
if (auto model = m_models[i].get()) {
func(*model, i);
}
}
}
static bool RelayAnyInitialized() {
static const int32_t num = HAL_GetNumRelayHeaders();
for (int32_t i = 0; i < num; ++i) {
if (HALSIM_GetRelayInitializedForward(i) ||
HALSIM_GetRelayInitializedReverse(i)) {
return true;
}
}
return false;
}
void RelaySimGui::Initialize() {
HALSimGui::halProvider->Register(
"Relays", RelayAnyInitialized,
[] { return std::make_unique<RelaysSimModel>(); },
[](glass::Window* win, glass::Model* model) {
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
win->SetDefaultPos(180, 20);
return glass::MakeFunctionView([=] {
glass::DisplayRelays(static_cast<RelaysSimModel*>(model),
HALSimGui::halProvider->AreOutputsEnabled());
});
});
}

14
simulation/halsim_gui/src/main/native/cpp/RelaySimGui.h
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@@ -1,14 +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.
#pragma once
namespace halsimgui {
class RelaySimGui {
public:
static void Initialize();
};
} // namespace halsimgui

2
simulation/halsim_gui/src/main/native/cpp/main.cpp
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@@ -30,7 +30,6 @@
#include "PHSimGui.h"
#include "PWMSimGui.h"
#include "PowerDistributionSimGui.h"
#include "RelaySimGui.h"
#include "RoboRioSimGui.h"
#include "SimDeviceGui.h"
#include "TimingGui.h"
@@ -86,7 +85,6 @@ __declspec(dllexport)
PCMSimGui::Initialize();
PowerDistributionSimGui::Initialize();
PWMSimGui::Initialize();
RelaySimGui::Initialize();
PHSimGui::Initialize();
RoboRioSimGui::Initialize();
TimingGui::Initialize();