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[hal] Add RobotController.getSerialNumber() (#4783)

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This commit is contained in:
Ryan Blue
2022-12-09 00:58:55 -05:00
committed by GitHub
parent 69a66ec5ec
commit 5a52b51443
19 changed files with 292 additions and 0 deletions
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56
hal/src/main/native/sim/mockdata/RoboRioData.cpp
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@@ -32,6 +32,44 @@ void RoboRioData::ResetData() {
userFaults5V.Reset(0);
userFaults3V3.Reset(0);
brownoutVoltage.Reset(6.75);
m_serialNumber = "";
}
int32_t RoboRioData::RegisterSerialNumberCallback(
HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
std::scoped_lock lock(m_serialNumberMutex);
int32_t uid = m_serialNumberCallbacks.Register(callback, param);
if (initialNotify) {
callback(GetSerialNumberName(), param, m_serialNumber.c_str(),
m_serialNumber.size());
}
return uid;
}
void RoboRioData::CancelSerialNumberCallback(int32_t uid) {
m_serialNumberCallbacks.Cancel(uid);
}
size_t RoboRioData::GetSerialNumber(char* buffer, size_t size) {
std::scoped_lock lock(m_serialNumberMutex);
size_t copied = m_serialNumber.copy(buffer, size);
// Null terminate
if (copied == size) {
copied -= 1;
}
buffer[copied] = '\0';
return copied;
}
void RoboRioData::SetSerialNumber(const char* serialNumber, size_t size) {
// Limit serial number to 8 characters internally- serialnum environment
// variable is always 8 characters
if (size > 8) {
size = 8;
}
std::scoped_lock lock(m_serialNumberMutex);
m_serialNumber = std::string(serialNumber, size);
m_serialNumberCallbacks(m_serialNumber.c_str(), m_serialNumber.size());
}
extern "C" {
@@ -60,6 +98,24 @@ DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
return SimRoboRioData->RegisterSerialNumberCallback(callback, param,
initialNotify);
}
void HALSIM_CancelRoboRioSerialNumberCallback(int32_t uid) {
return SimRoboRioData->CancelSerialNumberCallback(uid);
}
size_t HALSIM_GetRoboRioSerialNumber(char* buffer, size_t size) {
return SimRoboRioData->GetSerialNumber(buffer, size);
}
void HALSIM_SetRoboRioSerialNumber(const char* serialNumber, size_t size) {
SimRoboRioData->SetSerialNumber(serialNumber, size);
}
void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
#define REGISTER(NAME) \
SimRoboRioData->NAME.RegisterCallback(callback, param, initialNotify)