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[hal, wpilib] Remove built in accelerometer (#7702)

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This commit is contained in:
Thad House
2025-01-17 14:06:09 -08:00
committed by GitHub
parent 1600e773f4
commit 5a6c895b87
48 changed files with 0 additions and 2304 deletions
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50
glass/src/lib/native/cpp/hardware/Accelerometer.cpp
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@@ -1,50 +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 "glass/hardware/Accelerometer.h"
#include "glass/DataSource.h"
#include "glass/other/DeviceTree.h"
using namespace glass;
void glass::DisplayAccelerometerDevice(AccelerometerModel* model) {
if (!model->Exists()) {
return;
}
if (BeginDevice("BuiltInAccel")) {
// Range
{
int value = model->GetRange();
static const char* rangeOptions[] = {"2G", "4G", "8G"};
DeviceEnum("Range", true, &value, rangeOptions, 3);
}
// X Accel
if (auto xData = model->GetXData()) {
double value = xData->GetValue();
if (DeviceDouble("X Accel", false, &value, xData)) {
model->SetX(value);
}
}
// Y Accel
if (auto yData = model->GetYData()) {
double value = yData->GetValue();
if (DeviceDouble("Y Accel", false, &value, yData)) {
model->SetY(value);
}
}
// Z Accel
if (auto zData = model->GetZData()) {
double value = zData->GetValue();
if (DeviceDouble("Z Accel", false, &value, zData)) {
model->SetZ(value);
}
}
EndDevice();
}
}

29
glass/src/lib/native/include/glass/hardware/Accelerometer.h
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@@ -1,29 +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
#include "glass/Model.h"
namespace glass {
class DoubleSource;
class AccelerometerModel : public Model {
public:
virtual DoubleSource* GetXData() = 0;
virtual DoubleSource* GetYData() = 0;
virtual DoubleSource* GetZData() = 0;
virtual int GetRange() = 0;
virtual void SetX(double val) = 0;
virtual void SetY(double val) = 0;
virtual void SetZ(double val) = 0;
virtual void SetRange(int val) = 0;
};
void DisplayAccelerometerDevice(AccelerometerModel* model);
} // namespace glass

65
hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java
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@@ -1,65 +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.
package edu.wpi.first.hal;
/**
* Accelerometer HAL JNI methods.
*
* @see "hal/Accelerometer.h"
*/
public class AccelerometerJNI extends JNIWrapper {
/**
* Sets the accelerometer to active or standby mode.
*
* <p>It must be in standby mode to change any configuration.
*
* @see "HAL_SetAccelerometerActive"
* @param active true to set to active, false for standby
*/
public static native void setAccelerometerActive(boolean active);
/**
* Sets the range of values that can be measured (either 2, 4, or 8 g-forces).
*
* <p>The accelerometer should be in standby mode when this is called.
*
* @see "HAL_SetAccelerometerRange(int range)"
* @param range the accelerometer range
*/
public static native void setAccelerometerRange(int range);
/**
* Gets the x-axis acceleration.
*
* <p>This is a floating point value in units of 1 g-force.
*
* @see "HAL_GetAccelerometerX()"
* @return the X acceleration
*/
public static native double getAccelerometerX();
/**
* Gets the y-axis acceleration.
*
* <p>This is a floating point value in units of 1 g-force.
*
* @see "HAL_GetAccelerometerY()"
* @return the Y acceleration
*/
public static native double getAccelerometerY();
/**
* Gets the z-axis acceleration.
*
* <p>This is a floating point value in units of 1 g-force.
*
* @see "HAL_GetAccelerometerZ()"
* @return the Z acceleration
*/
public static native double getAccelerometerZ();
/** Utility class. */
private AccelerometerJNI() {}
}

68
hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
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@@ -1,68 +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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
/** JNI for accelerometer data. */
public class AccelerometerDataJNI extends JNIWrapper {
/**
* Register a callback to be run when this accelerometer activates.
*
* @param index the index
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
public static native int registerActiveCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelActiveCallback(int index, int uid);
public static native boolean getActive(int index);
public static native void setActive(int index, boolean active);
public static native int registerRangeCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelRangeCallback(int index, int uid);
public static native int getRange(int index);
public static native void setRange(int index, int range);
public static native int registerXCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelXCallback(int index, int uid);
public static native double getX(int index);
public static native void setX(int index, double x);
public static native int registerYCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelYCallback(int index, int uid);
public static native double getY(int index);
public static native void setY(int index, double y);
public static native int registerZCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelZCallback(int index, int uid);
public static native double getZ(int index);
public static native void setZ(int index, double z);
public static native void resetData(int index);
/** Utility class. */
private AccelerometerDataJNI() {}
}

72
hal/src/main/native/cpp/jni/AccelerometerJNI.cpp
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@@ -1,72 +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 <jni.h>
#include "edu_wpi_first_hal_AccelerometerJNI.h"
#include "hal/Accelerometer.h"
extern "C" {
/*
* Class: edu_wpi_first_hal_AccelerometerJNI
* Method: setAccelerometerActive
* Signature: (Z)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AccelerometerJNI_setAccelerometerActive
(JNIEnv*, jclass, jboolean active)
{
HAL_SetAccelerometerActive(active);
}
/*
* Class: edu_wpi_first_hal_AccelerometerJNI
* Method: setAccelerometerRange
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AccelerometerJNI_setAccelerometerRange
(JNIEnv*, jclass, jint range)
{
HAL_SetAccelerometerRange((HAL_AccelerometerRange)range);
}
/*
* Class: edu_wpi_first_hal_AccelerometerJNI
* Method: getAccelerometerX
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_AccelerometerJNI_getAccelerometerX
(JNIEnv*, jclass)
{
return HAL_GetAccelerometerX();
}
/*
* Class: edu_wpi_first_hal_AccelerometerJNI
* Method: getAccelerometerY
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_AccelerometerJNI_getAccelerometerY
(JNIEnv*, jclass)
{
return HAL_GetAccelerometerY();
}
/*
* Class: edu_wpi_first_hal_AccelerometerJNI
* Method: getAccelerometerZ
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_AccelerometerJNI_getAccelerometerZ
(JNIEnv*, jclass)
{
return HAL_GetAccelerometerZ();
}
} // extern "C"

278
hal/src/main/native/cpp/jni/simulation/AccelerometerDataJNI.cpp
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@@ -1,278 +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 <jni.h>
#include "CallbackStore.h"
#include "edu_wpi_first_hal_simulation_AccelerometerDataJNI.h"
#include "hal/simulation/AccelerometerData.h"
using namespace hal;
extern "C" {
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: registerActiveCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_registerActiveCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAccelerometerActiveCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: cancelActiveCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_cancelActiveCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAccelerometerActiveCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: getActive
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_getActive
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAccelerometerActive(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: setActive
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_setActive
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetAccelerometerActive(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: registerRangeCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_registerRangeCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAccelerometerRangeCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: cancelRangeCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_cancelRangeCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAccelerometerRangeCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: getRange
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_getRange
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAccelerometerRange(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: setRange
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_setRange
(JNIEnv*, jclass, jint index, jint value)
{
HALSIM_SetAccelerometerRange(index,
static_cast<HAL_AccelerometerRange>(value));
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: registerXCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_registerXCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAccelerometerXCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: cancelXCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_cancelXCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAccelerometerXCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: getX
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_getX
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAccelerometerX(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: setX
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_setX
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetAccelerometerX(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: registerYCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_registerYCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAccelerometerYCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: cancelYCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_cancelYCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAccelerometerYCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: getY
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_getY
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAccelerometerY(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: setY
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_setY
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetAccelerometerY(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: registerZCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_registerZCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAccelerometerZCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: cancelZCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_cancelZCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAccelerometerZCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: getZ
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_getZ
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAccelerometerZ(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: setZ
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_setZ
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetAccelerometerZ(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AccelerometerDataJNI
* Method: resetData
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AccelerometerDataJNI_resetData
(JNIEnv*, jclass, jint index)
{
HALSIM_ResetAccelerometerData(index);
}
} // extern "C"

74
hal/src/main/native/include/hal/Accelerometer.h
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@@ -1,74 +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
#include "hal/Types.h"
/**
* @defgroup hal_accelerometer Accelerometer Functions
* @ingroup hal_capi
* @{
*/
/**
* The acceptable accelerometer ranges.
*/
HAL_ENUM(HAL_AccelerometerRange) {
HAL_AccelerometerRange_k2G = 0,
HAL_AccelerometerRange_k4G = 1,
HAL_AccelerometerRange_k8G = 2,
};
#ifdef __cplusplus
extern "C" {
#endif
/**
* Sets the accelerometer to active or standby mode.
*
* It must be in standby mode to change any configuration.
*
* @param active true to set to active, false for standby
*/
void HAL_SetAccelerometerActive(HAL_Bool active);
/**
* Sets the range of values that can be measured (either 2, 4, or 8 g-forces).
*
* The accelerometer should be in standby mode when this is called.
*
* @param range the accelerometer range
*/
void HAL_SetAccelerometerRange(HAL_AccelerometerRange range);
/**
* Gets the x-axis acceleration.
*
* This is a floating point value in units of 1 g-force.
*
* @return the X acceleration
*/
double HAL_GetAccelerometerX(void);
/**
* Gets the y-axis acceleration.
*
* This is a floating point value in units of 1 g-force.
*
* @return the Y acceleration
*/
double HAL_GetAccelerometerY(void);
/**
* Gets the z-axis acceleration.
*
* This is a floating point value in units of 1 g-force.
*
* @return the Z acceleration
*/
double HAL_GetAccelerometerZ(void);
#ifdef __cplusplus
} // extern "C"
/** @} */
#endif

1
hal/src/main/native/include/hal/HAL.h
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@@ -6,7 +6,6 @@
#include <stdint.h>
#include "hal/Accelerometer.h"
#include "hal/AnalogInput.h"
#include "hal/AnalogTrigger.h"
#include "hal/CAN.h"

63
hal/src/main/native/include/hal/simulation/AccelerometerData.h
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@@ -1,63 +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
#include "hal/Accelerometer.h"
#include "hal/Types.h"
#include "hal/simulation/NotifyListener.h"
#ifdef __cplusplus
extern "C" {
#endif
void HALSIM_ResetAccelerometerData(int32_t index);
int32_t HALSIM_RegisterAccelerometerActiveCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAccelerometerActiveCallback(int32_t index, int32_t uid);
HAL_Bool HALSIM_GetAccelerometerActive(int32_t index);
void HALSIM_SetAccelerometerActive(int32_t index, HAL_Bool active);
int32_t HALSIM_RegisterAccelerometerRangeCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAccelerometerRangeCallback(int32_t index, int32_t uid);
HAL_AccelerometerRange HALSIM_GetAccelerometerRange(int32_t index);
void HALSIM_SetAccelerometerRange(int32_t index, HAL_AccelerometerRange range);
int32_t HALSIM_RegisterAccelerometerXCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAccelerometerXCallback(int32_t index, int32_t uid);
double HALSIM_GetAccelerometerX(int32_t index);
void HALSIM_SetAccelerometerX(int32_t index, double x);
int32_t HALSIM_RegisterAccelerometerYCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAccelerometerYCallback(int32_t index, int32_t uid);
double HALSIM_GetAccelerometerY(int32_t index);
void HALSIM_SetAccelerometerY(int32_t index, double y);
int32_t HALSIM_RegisterAccelerometerZCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAccelerometerZCallback(int32_t index, int32_t uid);
double HALSIM_GetAccelerometerZ(int32_t index);
void HALSIM_SetAccelerometerZ(int32_t index, double z);
void HALSIM_RegisterAccelerometerAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
#ifdef __cplusplus
} // extern "C"
#endif

32
hal/src/main/native/sim/Accelerometer.cpp
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@@ -1,32 +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 "hal/Accelerometer.h"
#include "mockdata/AccelerometerDataInternal.h"
using namespace hal;
namespace hal::init {
void InitializeAccelerometer() {}
} // namespace hal::init
extern "C" {
void HAL_SetAccelerometerActive(HAL_Bool active) {
SimAccelerometerData[0].active = active;
}
void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) {
SimAccelerometerData[0].range = range;
}
double HAL_GetAccelerometerX(void) {
return SimAccelerometerData[0].x;
}
double HAL_GetAccelerometerY(void) {
return SimAccelerometerData[0].y;
}
double HAL_GetAccelerometerZ(void) {
return SimAccelerometerData[0].z;
}
} // extern "C"

2
hal/src/main/native/sim/HAL.cpp
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@@ -66,7 +66,6 @@ void InitializeDriverStation();
namespace hal::init {
void InitializeHAL() {
InitializeAccelerometerData();
InitializeAddressableLEDData();
InitializeAnalogInData();
InitializeAnalogTriggerData();
@@ -84,7 +83,6 @@ void InitializeHAL() {
InitializePWMData();
InitializeRoboRioData();
InitializeSimDeviceData();
InitializeAccelerometer();
InitializeAddressableLED();
InitializeAnalogInput();
InitializeAnalogInternal();

2
hal/src/main/native/sim/HALInitializer.h
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@@ -16,7 +16,6 @@ inline void CheckInit() {
RunInitialize();
}
extern void InitializeAccelerometerData();
extern void InitializeAddressableLEDData();
extern void InitializeAnalogInData();
extern void InitializeAnalogTriggerData();
@@ -35,7 +34,6 @@ extern void InitializePowerDistributionData();
extern void InitializePWMData();
extern void InitializeRoboRioData();
extern void InitializeSimDeviceData();
extern void InitializeAccelerometer();
extern void InitializeAddressableLED();
extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();

55
hal/src/main/native/sim/mockdata/AccelerometerData.cpp
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@@ -1,55 +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 "../PortsInternal.h"
#include "AccelerometerDataInternal.h"
using namespace hal;
namespace hal::init {
void InitializeAccelerometerData() {
static AccelerometerData sad[kAccelerometers];
::hal::SimAccelerometerData = sad;
}
} // namespace hal::init
AccelerometerData* hal::SimAccelerometerData;
void AccelerometerData::ResetData() {
active.Reset(false);
range.Reset(static_cast<HAL_AccelerometerRange>(0));
x.Reset(0.0);
y.Reset(0.0);
z.Reset(0.0);
}
extern "C" {
void HALSIM_ResetAccelerometerData(int32_t index) {
SimAccelerometerData[index].ResetData();
}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, Accelerometer##CAPINAME, \
SimAccelerometerData, LOWERNAME)
DEFINE_CAPI(HAL_Bool, Active, active)
DEFINE_CAPI(HAL_AccelerometerRange, Range, range)
DEFINE_CAPI(double, X, x)
DEFINE_CAPI(double, Y, y)
DEFINE_CAPI(double, Z, z)
#define REGISTER(NAME) \
SimAccelerometerData[index].NAME.RegisterCallback(callback, param, \
initialNotify)
void HALSIM_RegisterAccelerometerAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {
REGISTER(active);
REGISTER(range);
REGISTER(x);
REGISTER(y);
REGISTER(z);
}
} // extern "C"

33
hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h
View File

@@ -1,33 +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
#include "hal/simulation/AccelerometerData.h"
#include "hal/simulation/SimDataValue.h"
namespace hal {
class AccelerometerData {
HAL_SIMDATAVALUE_DEFINE_NAME(Active)
HAL_SIMDATAVALUE_DEFINE_NAME(Range)
HAL_SIMDATAVALUE_DEFINE_NAME(X)
HAL_SIMDATAVALUE_DEFINE_NAME(Y)
HAL_SIMDATAVALUE_DEFINE_NAME(Z)
static inline HAL_Value MakeRangeValue(HAL_AccelerometerRange value) {
return HAL_MakeEnum(value);
}
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetActiveName> active{false};
SimDataValue<HAL_AccelerometerRange, MakeRangeValue, GetRangeName> range{
static_cast<HAL_AccelerometerRange>(0)};
SimDataValue<double, HAL_MakeDouble, GetXName> x{0.0};
SimDataValue<double, HAL_MakeDouble, GetYName> y{0.0};
SimDataValue<double, HAL_MakeDouble, GetZName> z{0.0};
virtual void ResetData();
};
extern AccelerometerData* SimAccelerometerData;
} // namespace hal

5
hal/src/main/native/sim/mockdata/Reset.cpp
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@@ -2,7 +2,6 @@
// 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 <hal/simulation/AccelerometerData.h>
#include <hal/simulation/AddressableLEDData.h>
#include <hal/simulation/AnalogInData.h>
#include <hal/simulation/AnalogTriggerData.h>
@@ -23,10 +22,6 @@
#include "../PortsInternal.h"
extern "C" void HALSIM_ResetAllSimData(void) {
for (int32_t i = 0; i < hal::kAccelerometers; i++) {
HALSIM_ResetAccelerometerData(i);
}
for (int32_t i = 0; i < hal::kNumAddressableLEDs; i++) {
HALSIM_ResetAddressableLEDData(i);
}

58
hal/src/main/native/systemcore/Accelerometer.cpp
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@@ -1,58 +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 "hal/Accelerometer.h"
#include <stdint.h>
#include <cassert>
#include <cstdio>
#include <memory>
#include "HALInitializer.h"
#include "hal/HAL.h"
using namespace hal;
namespace hal::init {
void InitializeAccelerometer() {}
} // namespace hal::init
namespace hal {
/**
* Initialize the accelerometer.
*/
static void initializeAccelerometer() {
hal::init::CheckInit();
}
} // namespace hal
extern "C" {
void HAL_SetAccelerometerActive(HAL_Bool active) {
initializeAccelerometer();
}
void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) {
initializeAccelerometer();
}
double HAL_GetAccelerometerX(void) {
initializeAccelerometer();
return 0.0;
}
double HAL_GetAccelerometerY(void) {
initializeAccelerometer();
return 0.0;
}
double HAL_GetAccelerometerZ(void) {
initializeAccelerometer();
return 0.0;
}
} // extern "C"

1
hal/src/main/native/systemcore/HAL.cpp
View File

@@ -49,7 +49,6 @@ void InitializeHAL() {
InitializeCTREPCM();
InitializeREVPH();
InitializeAddressableLED();
InitializeAccelerometer();
InitializeAnalogInput();
InitializeAnalogTrigger();
InitializeCAN();

1
hal/src/main/native/systemcore/HALInitializer.h
View File

@@ -18,7 +18,6 @@ inline void CheckInit() {
extern void InitializeCTREPCM();
extern void InitializeREVPH();
extern void InitializeAccelerometer();
extern void InitializeAddressableLED();
extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();

25
hal/src/main/native/systemcore/mockdata/AccelerometerData.cpp
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@@ -1,25 +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 "hal/simulation/AccelerometerData.h"
#include "hal/simulation/SimDataValue.h"
extern "C" {
void HALSIM_ResetAccelerometerData(int32_t index) {}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, Accelerometer##CAPINAME, RETURN)
DEFINE_CAPI(HAL_Bool, Active, false)
DEFINE_CAPI(HAL_AccelerometerRange, Range, HAL_AccelerometerRange_k2G)
DEFINE_CAPI(double, X, 0)
DEFINE_CAPI(double, Y, 0)
DEFINE_CAPI(double, Z, 0)
void HALSIM_RegisterAccelerometerAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {}
} // extern "C"

63
simulation/halsim_gui/src/main/native/cpp/AccelerometerSimGui.cpp
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@@ -1,63 +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 "AccelerometerSimGui.h"
#include <memory>
#include <glass/hardware/Accelerometer.h>
#include <glass/other/DeviceTree.h>
#include <hal/Value.h>
#include <hal/simulation/AccelerometerData.h>
#include "HALDataSource.h"
#include "HALSimGui.h"
#include "SimDeviceGui.h"
using namespace glass;
using namespace halsimgui;
namespace {
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AccelerometerX, "X Accel");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AccelerometerY, "Y Accel");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AccelerometerZ, "Z Accel");
class AccelerometerSimModel : public glass::AccelerometerModel {
public:
explicit AccelerometerSimModel(int32_t index)
: m_index{index}, m_xData{m_index}, m_yData{m_index}, m_zData{m_index} {}
void Update() override {}
bool Exists() override { return HALSIM_GetAccelerometerActive(m_index); }
glass::DoubleSource* GetXData() override { return &m_xData; }
glass::DoubleSource* GetYData() override { return &m_yData; }
glass::DoubleSource* GetZData() override { return &m_zData; }
int GetRange() override { return HALSIM_GetAccelerometerRange(m_index); }
void SetX(double val) override { HALSIM_SetAccelerometerX(m_index, val); }
void SetY(double val) override { HALSIM_SetAccelerometerY(m_index, val); }
void SetZ(double val) override { HALSIM_SetAccelerometerZ(m_index, val); }
void SetRange(int val) override {
HALSIM_SetAccelerometerRange(m_index,
static_cast<HAL_AccelerometerRange>(val));
}
private:
int32_t m_index;
AccelerometerXSource m_xData;
AccelerometerYSource m_yData;
AccelerometerZSource m_zData;
};
} // namespace
void AccelerometerSimGui::Initialize() {
SimDeviceGui::GetDeviceTree().Add(
std::make_unique<AccelerometerSimModel>(0), [](glass::Model* model) {
glass::DisplayAccelerometerDevice(
static_cast<AccelerometerSimModel*>(model));
});
}

14
simulation/halsim_gui/src/main/native/cpp/AccelerometerSimGui.h
View File

@@ -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 AccelerometerSimGui {
public:
static void Initialize();
};
} // namespace halsimgui

2
simulation/halsim_gui/src/main/native/cpp/main.cpp
View File

@@ -15,7 +15,6 @@
#include <imgui.h>
#include <wpigui.h>
#include "AccelerometerSimGui.h"
#include "AddressableLEDGui.h"
#include "AnalogInputSimGui.h"
#include "DIOSimGui.h"
@@ -73,7 +72,6 @@ __declspec(dllexport)
EncoderSimGui::Initialize();
SimDeviceGui::Initialize();
AccelerometerSimGui::Initialize();
AddressableLEDGui::Initialize();
AnalogInputSimGui::Initialize();
DIOSimGui::Initialize();

2
simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
View File

@@ -9,7 +9,6 @@
#include <WSProviderContainer.h>
#include <WSProvider_AddressableLED.h>
#include <WSProvider_Analog.h>
#include <WSProvider_BuiltInAccelerometer.h>
#include <WSProvider_DIO.h>
#include <WSProvider_DriverStation.h>
#include <WSProvider_Encoder.h>
@@ -40,7 +39,6 @@ bool HALSimWSClient::Initialize() {
HALSimWSProviderAddressableLED::Initialize(registerFunc);
HALSimWSProviderAnalogIn::Initialize(registerFunc);
HALSimWSProviderBuiltInAccelerometer::Initialize(registerFunc);
HALSimWSProviderDIO::Initialize(registerFunc);
HALSimWSProviderDigitalPWM::Initialize(registerFunc);
HALSimWSProviderDriverStation::Initialize(registerFunc);

17
simulation/halsim_ws_core/doc/hardware_ws_api.md
View File

@@ -76,7 +76,6 @@ The “hardware“ (which might be a full-fledged 3D simulation engine, a physic
| Type value | Description | Device value |
| ----------------------- | -------------------------- | ------------------------- |
| [``"Accel"``][] | Accelerometer | Arbitrary device name |
| [``"AddressableLED"``][]| Addressable LED Strip | Arbitrary device number |
| [``"AI"``][] | Analog input | Port index, e.g. "1", "2" |
| [``"AO"``][] | Analog output | Port index, e.g. "1", "2" |
@@ -92,22 +91,6 @@ The “hardware“ (which might be a full-fledged 3D simulation engine, a physic
| [``"PWM"``][] | PWM output | Port index, e.g. "1", "2" |
| [``"Solenoid"``][] | Solenoid output | Module +Port index, e.g. "0,1", "2,5" |
#### Accelerometer ("Accel")
[``"Accel"``]:#accelerometer-accel
A 3-axis accelerometer.
C++/Java implementation note: these are created as either BuiltInAccelerometer or SimDevice nodes where the device name is prefixed by ``"Accel:"``. For example, the device ``"Accel:ADXL362[1]"`` would have a device value of ``ADXL362[1]``. The BuiltInAccelerometer uses a device name of ``"BuiltInAccel"``.
| Data Key | Type | Description |
| ------------ | ------- | ---------------------------------------------------- |
| ``"<init"`` | Boolean | If accelerometer is initialized in the robot program |
| ``"<range"`` | Float | Desired range in G’s |
| ``">x"`` | Float | Acceleration in G’s |
| ``">y"`` | Float | Acceleration in G’s |
| ``">z"`` | Float | Acceleration in G’s |
#### Addressable LED Strip ("AddressableLED")
[``"AddressableLED"``]:#addressable-led-strip-addressableled

33
simulation/halsim_ws_core/doc/wpilib-ws.yaml
View File

@@ -65,39 +65,6 @@ components:
- $ref: "#/components/schemas/simdeviceData"
schemas:
accelData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: Accel
device:
type: string
description: Arbitrary device name
data:
type: object
description: "Accelerometer Data (type: Accelerometer, device: channel number)"
properties:
<init:
type: boolean
description: "If accelerometer is initialized in the robot program"
<range:
type: number
description: "Desired range in G’s"
">x":
type: number
description: "Acceleration in G’s "
">y":
type: number
description: "Acceleration in G’s "
">z":
type: number
description: "Acceleration in G’s "
addressableLEDData:
type: object
required:

96
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_BuiltInAccelerometer.cpp
View File

@@ -1,96 +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 "WSProvider_BuiltInAccelerometer.h"
#include <memory>
#include <hal/Ports.h>
#include <hal/simulation/AccelerometerData.h>
#define REGISTER(halsim, jsonid, ctype, haltype) \
HALSIM_RegisterAccelerometer##halsim##Callback( \
0, \
[](const char* name, void* param, const struct HAL_Value* value) { \
static_cast<HALSimWSProviderBuiltInAccelerometer*>(param) \
->ProcessHalCallback( \
{{jsonid, static_cast<ctype>(value->data.v_##haltype)}}); \
}, \
this, true)
namespace wpilibws {
HALSimWSProviderBuiltInAccelerometer::HALSimWSProviderBuiltInAccelerometer()
: HALSimWSHalProvider("Accel/BuiltInAccel", "Accel") {
m_deviceId = "BuiltInAccel";
}
void HALSimWSProviderBuiltInAccelerometer::Initialize(
WSRegisterFunc webRegisterFunc) {
webRegisterFunc("Accel/BuiltInAccel",
std::make_unique<HALSimWSProviderBuiltInAccelerometer>());
}
HALSimWSProviderBuiltInAccelerometer::~HALSimWSProviderBuiltInAccelerometer() {
DoCancelCallbacks();
}
void HALSimWSProviderBuiltInAccelerometer::RegisterCallbacks() {
m_activeCbKey = REGISTER(Active, "<init", bool, boolean);
m_rangeCbKey = HALSIM_RegisterAccelerometerRangeCallback(
0,
[](const char* name, void* param, const struct HAL_Value* value) {
double range;
switch (value->data.v_int) {
case 0:
range = 2;
break;
case 1:
range = 4;
break;
case 2:
default:
range = 8;
break;
}
static_cast<HALSimWSProviderBuiltInAccelerometer*>(param)
->ProcessHalCallback({{"<range", range}});
},
this, true);
m_xCbKey = REGISTER(X, ">x", double, double);
m_yCbKey = REGISTER(Y, ">y", double, double);
m_zCbKey = REGISTER(Z, ">z", double, double);
}
void HALSimWSProviderBuiltInAccelerometer::CancelCallbacks() {
DoCancelCallbacks();
}
void HALSimWSProviderBuiltInAccelerometer::DoCancelCallbacks() {
HALSIM_CancelAccelerometerActiveCallback(0, m_activeCbKey);
HALSIM_CancelAccelerometerRangeCallback(0, m_rangeCbKey);
HALSIM_CancelAccelerometerXCallback(0, m_xCbKey);
HALSIM_CancelAccelerometerYCallback(0, m_yCbKey);
HALSIM_CancelAccelerometerZCallback(0, m_zCbKey);
m_activeCbKey = 0;
m_rangeCbKey = 0;
m_xCbKey = 0;
m_yCbKey = 0;
m_zCbKey = 0;
}
void HALSimWSProviderBuiltInAccelerometer::OnNetValueChanged(
const wpi::json& json) {
wpi::json::const_iterator it;
if ((it = json.find(">x")) != json.end()) {
HALSIM_SetAccelerometerX(0, it.value());
}
if ((it = json.find(">y")) != json.end()) {
HALSIM_SetAccelerometerY(0, it.value());
}
if ((it = json.find(">z")) != json.end()) {
HALSIM_SetAccelerometerZ(0, it.value());
}
}
} // namespace wpilibws

32
simulation/halsim_ws_core/src/main/native/include/WSProvider_BuiltInAccelerometer.h
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@@ -1,32 +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
#include "WSHalProviders.h"
namespace wpilibws {
class HALSimWSProviderBuiltInAccelerometer : public HALSimWSHalProvider {
public:
HALSimWSProviderBuiltInAccelerometer();
static void Initialize(WSRegisterFunc webRegisterFunc);
using HALSimWSHalProvider::HALSimWSHalProvider;
~HALSimWSProviderBuiltInAccelerometer() override;
void OnNetValueChanged(const wpi::json& json) override;
protected:
void RegisterCallbacks() override;
void CancelCallbacks() override;
void DoCancelCallbacks();
private:
int32_t m_activeCbKey = 0;
int32_t m_rangeCbKey = 0;
int32_t m_xCbKey = 0;
int32_t m_yCbKey = 0;
int32_t m_zCbKey = 0;
};
} // namespace wpilibws

2
simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
View File

@@ -9,7 +9,6 @@
#include <WSProviderContainer.h>
#include <WSProvider_AddressableLED.h>
#include <WSProvider_Analog.h>
#include <WSProvider_BuiltInAccelerometer.h>
#include <WSProvider_DIO.h>
#include <WSProvider_DriverStation.h>
#include <WSProvider_Encoder.h>
@@ -39,7 +38,6 @@ bool HALSimWSServer::Initialize() {
HALSimWSProviderAddressableLED::Initialize(registerFunc);
HALSimWSProviderAnalogIn::Initialize(registerFunc);
HALSimWSProviderBuiltInAccelerometer::Initialize(registerFunc);
HALSimWSProviderDIO::Initialize(registerFunc);
HALSimWSProviderDigitalPWM::Initialize(registerFunc);
HALSimWSProviderDriverStation::Initialize(registerFunc);

9
simulation/halsim_xrp/README.md
View File

@@ -44,7 +44,6 @@ Utilizing tagged data blocks allows us to send multiple pieces of data in a sing
| 0x14 | [DIO](#dio) |
| 0x15 | [AnalogIn](#analogin) |
| 0x16 | [XRPGyro](#xrpgyro) |
| 0x17 | [BuiltInAccel](#builtinaccel) |
| 0x18 | [Encoder](#encoder) |
@@ -101,14 +100,6 @@ IDs:
| 4 | _float_ | angle_y (deg) |
| 5 | _float_ | angle_z (deg) |
#### BuiltInAccel
| Order | Data Type | Description |
|-------|-----------|-------------|
| 0 | _float_ | accel_x (g) |
| 1 | _float_ | accel_y (g) |
| 2 | _float_ | accel_z (g) |
#### Encoder
| Order | Data Type | Description |

2
simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
View File

@@ -8,7 +8,6 @@
#include <WSProviderContainer.h>
#include <WSProvider_Analog.h>
#include <WSProvider_BuiltInAccelerometer.h>
#include <WSProvider_DIO.h>
#include <WSProvider_DriverStation.h>
#include <WSProvider_Encoder.h>
@@ -35,7 +34,6 @@ bool HALSimXRPClient::Initialize() {
// Minimized set of HAL providers
HALSimWSProviderAnalogIn::Initialize(registerFunc);
HALSimWSProviderBuiltInAccelerometer::Initialize(registerFunc);
HALSimWSProviderDIO::Initialize(registerFunc);
HALSimWSProviderDriverStation::Initialize(registerFunc);
HALSimWSProviderEncoder::Initialize(registerFunc);

25
simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
View File

@@ -81,9 +81,6 @@ void XRP::HandleXRPUpdate(std::span<const uint8_t> packet) {
case XRP_TAG_GYRO:
ReadGyroTag(tagPacket);
break;
case XRP_TAG_ACCEL:
ReadAccelTag(tagPacket);
break;
case XRP_TAG_DIO:
ReadDIOTag(tagPacket);
break;
@@ -307,28 +304,6 @@ void XRP::ReadGyroTag(std::span<const uint8_t> packet) {
m_wpilib_update_func(gyroJson);
}
void XRP::ReadAccelTag(std::span<const uint8_t> packet) {
if (packet.size() < 14) {
return; // size(1) + tag(1) + 3x 4 byte
}
packet = packet.subspan(2); // Skip past the size and tag
float accel_x =
std::bit_cast<float>(wpi::support::endian::read32be(&packet[0]));
float accel_y =
std::bit_cast<float>(wpi::support::endian::read32be(&packet[4]));
float accel_z =
std::bit_cast<float>(wpi::support::endian::read32be(&packet[8]));
wpi::json accelJson;
accelJson["type"] = "Accel";
accelJson["device"] = "BuiltInAccel";
accelJson["data"] = {{">x", accel_x}, {">y", accel_y}, {">z", accel_z}};
// Update WPILib
m_wpilib_update_func(accelJson);
}
void XRP::ReadDIOTag(std::span<const uint8_t> packet) {
if (packet.size() < 4) {
return; // size(1) + tag(1) + id(1) + value(1)

1
simulation/halsim_xrp/src/main/native/include/XRP.h
View File

@@ -54,7 +54,6 @@ class XRP {
// XRP Packet Update Handlers
void ReadGyroTag(std::span<const uint8_t> packet);
void ReadAccelTag(std::span<const uint8_t> packet);
void ReadDIOTag(std::span<const uint8_t> packet);
void ReadEncoderTag(std::span<const uint8_t> packet);
void ReadAnalogTag(std::span<const uint8_t> packet);

47
wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
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@@ -1,47 +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 "frc/BuiltInAccelerometer.h"
#include <hal/Accelerometer.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
using namespace frc;
BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
SetRange(range);
HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
"Built-in accelerometer");
wpi::SendableRegistry::AddLW(this, "BuiltInAccel");
}
void BuiltInAccelerometer::SetRange(Range range) {
HAL_SetAccelerometerActive(false);
HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
HAL_SetAccelerometerActive(true);
}
double BuiltInAccelerometer::GetX() {
return HAL_GetAccelerometerX();
}
double BuiltInAccelerometer::GetY() {
return HAL_GetAccelerometerY();
}
double BuiltInAccelerometer::GetZ() {
return HAL_GetAccelerometerZ();
}
void BuiltInAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("3AxisAccelerometer");
builder.AddDoubleProperty("X", [=, this] { return GetX(); }, nullptr);
builder.AddDoubleProperty("Y", [=, this] { return GetY(); }, nullptr);
builder.AddDoubleProperty("Z", [=, this] { return GetZ(); }, nullptr);
}

108
wpilibc/src/main/native/cpp/simulation/BuiltInAccelerometerSim.cpp
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@@ -1,108 +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 "frc/simulation/BuiltInAccelerometerSim.h"
#include <memory>
#include <hal/simulation/AccelerometerData.h>
#include "frc/BuiltInAccelerometer.h"
using namespace frc;
using namespace frc::sim;
BuiltInAccelerometerSim::BuiltInAccelerometerSim() : m_index{0} {}
BuiltInAccelerometerSim::BuiltInAccelerometerSim(const BuiltInAccelerometer&)
: m_index{0} {}
std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterActiveCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAccelerometerActiveCallback);
store->SetUid(HALSIM_RegisterAccelerometerActiveCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool BuiltInAccelerometerSim::GetActive() const {
return HALSIM_GetAccelerometerActive(m_index);
}
void BuiltInAccelerometerSim::SetActive(bool active) {
HALSIM_SetAccelerometerActive(m_index, active);
}
std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterRangeCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAccelerometerRangeCallback);
store->SetUid(HALSIM_RegisterAccelerometerRangeCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
HAL_AccelerometerRange BuiltInAccelerometerSim::GetRange() const {
return HALSIM_GetAccelerometerRange(m_index);
}
void BuiltInAccelerometerSim::SetRange(HAL_AccelerometerRange range) {
HALSIM_SetAccelerometerRange(m_index, range);
}
std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterXCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAccelerometerXCallback);
store->SetUid(HALSIM_RegisterAccelerometerXCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double BuiltInAccelerometerSim::GetX() const {
return HALSIM_GetAccelerometerX(m_index);
}
void BuiltInAccelerometerSim::SetX(double x) {
HALSIM_SetAccelerometerX(m_index, x);
}
std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterYCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAccelerometerYCallback);
store->SetUid(HALSIM_RegisterAccelerometerYCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double BuiltInAccelerometerSim::GetY() const {
return HALSIM_GetAccelerometerY(m_index);
}
void BuiltInAccelerometerSim::SetY(double y) {
HALSIM_SetAccelerometerY(m_index, y);
}
std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterZCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAccelerometerZCallback);
store->SetUid(HALSIM_RegisterAccelerometerZCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double BuiltInAccelerometerSim::GetZ() const {
return HALSIM_GetAccelerometerZ(m_index);
}
void BuiltInAccelerometerSim::SetZ(double z) {
HALSIM_SetAccelerometerZ(m_index, z);
}
void BuiltInAccelerometerSim::ResetData() {
HALSIM_ResetAccelerometerData(m_index);
}

68
wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
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@@ -1,68 +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
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
/**
* Built-in accelerometer.
*
* This class allows access to the roboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public wpi::Sendable,
public wpi::SendableHelper<BuiltInAccelerometer> {
public:
/**
* Accelerometer range.
*/
enum Range {
/// 2 Gs max.
kRange_2G = 0,
/// 4 Gs max.
kRange_4G = 1,
/// 8 Gs max.
kRange_8G = 2
};
/**
* Constructor.
*
* @param range The range the accelerometer will measure
*/
explicit BuiltInAccelerometer(Range range = kRange_8G);
BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
/**
* Set the measuring range of the accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure.
*/
void SetRange(Range range);
/**
* @return The acceleration of the roboRIO along the X axis in g-forces
*/
double GetX();
/**
* @return The acceleration of the roboRIO along the Y axis in g-forces
*/
double GetY();
/**
* @return The acceleration of the roboRIO along the Z axis in g-forces
*/
double GetZ();
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc

170
wpilibc/src/main/native/include/frc/simulation/BuiltInAccelerometerSim.h
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@@ -1,170 +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
#include <memory>
#include <hal/Accelerometer.h>
#include "frc/simulation/CallbackStore.h"
namespace frc {
class BuiltInAccelerometer;
namespace sim {
/**
* Class to control a simulated built-in accelerometer.
*/
class BuiltInAccelerometerSim {
public:
/**
* Constructs for the first built-in accelerometer.
*/
BuiltInAccelerometerSim();
/**
* Constructs from a BuiltInAccelerometer object.
*
* @param accel BuiltInAccelerometer to simulate
*/
explicit BuiltInAccelerometerSim(const BuiltInAccelerometer& accel);
/**
* Register a callback to be run when this accelerometer activates.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterActiveCallback(NotifyCallback callback,
bool initialNotify);
/**
* Check whether the accelerometer is active.
*
* @return true if active
*/
bool GetActive() const;
/**
* Define whether this accelerometer is active.
*
* @param active the new state
*/
void SetActive(bool active);
/**
* Register a callback to be run whenever the range changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterRangeCallback(NotifyCallback callback,
bool initialNotify);
/**
* Check the range of this accelerometer.
*
* @return the accelerometer range
*/
HAL_AccelerometerRange GetRange() const;
/**
* Change the range of this accelerometer.
*
* @param range the new accelerometer range
*/
void SetRange(HAL_AccelerometerRange range);
/**
* Register a callback to be run whenever the X axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterXCallback(NotifyCallback callback,
bool initialNotify);
/**
* Measure the X axis value.
*
* @return the X axis measurement
*/
double GetX() const;
/**
* Change the X axis value of the accelerometer.
*
* @param x the new reading of the X axis
*/
void SetX(double x);
/**
* Register a callback to be run whenever the Y axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterYCallback(NotifyCallback callback,
bool initialNotify);
/**
* Measure the Y axis value.
*
* @return the Y axis measurement
*/
double GetY() const;
/**
* Change the Y axis value of the accelerometer.
*
* @param y the new reading of the Y axis
*/
void SetY(double y);
/**
* Register a callback to be run whenever the Z axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterZCallback(NotifyCallback callback,
bool initialNotify);
/**
* Measure the Z axis value.
*
* @return the Z axis measurement
*/
double GetZ() const;
/**
* Change the Z axis value of the accelerometer.
*
* @param z the new reading of the Z axis
*/
void SetZ(double z);
/**
* Reset all simulation data of this object.
*/
void ResetData();
private:
int m_index;
};
} // namespace sim
} // namespace frc

133
wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp
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@@ -1,133 +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 "frc/simulation/BuiltInAccelerometerSim.h" // NOLINT(build/include_order)
#include <gtest/gtest.h>
#include <hal/Accelerometer.h>
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/BuiltInAccelerometer.h"
namespace frc::sim {
TEST(AccelerometerSimTest, ActiveCallback) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
bool wasTriggered = false;
bool lastValue = false;
auto cb = sim.RegisterActiveCallback(
[&](std::string_view name, const HAL_Value* value) {
wasTriggered = true;
lastValue = value->data.v_boolean;
},
false);
EXPECT_FALSE(wasTriggered);
HAL_SetAccelerometerActive(true);
EXPECT_TRUE(wasTriggered);
EXPECT_TRUE(lastValue);
EXPECT_TRUE(sim.GetActive());
}
TEST(AccelerometerSimTest, SetX) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
DoubleCallback callback;
constexpr double kTestValue = 1.91;
BuiltInAccelerometer accel;
auto cb = sim.RegisterXCallback(callback.GetCallback(), false);
sim.SetX(kTestValue);
EXPECT_EQ(kTestValue, accel.GetX());
EXPECT_EQ(kTestValue, sim.GetX());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(AccelerometerSimTest, SetY) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
DoubleCallback callback;
constexpr double kTestValue = 2.29;
BuiltInAccelerometer accel;
auto cb = sim.RegisterYCallback(callback.GetCallback(), false);
sim.SetY(kTestValue);
EXPECT_EQ(kTestValue, accel.GetY());
EXPECT_EQ(kTestValue, sim.GetY());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(AccelerometerSimTest, SetZ) {
HAL_Initialize(500, 0);
BuiltInAccelerometer accel;
BuiltInAccelerometerSim sim(accel);
sim.ResetData();
DoubleCallback callback;
constexpr double kTestValue = 3.405;
auto cb = sim.RegisterZCallback(callback.GetCallback(), false);
sim.SetZ(kTestValue);
EXPECT_EQ(kTestValue, accel.GetZ());
EXPECT_EQ(kTestValue, sim.GetZ());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
}
TEST(AccelerometerSimTest, SetRange) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim sim;
sim.ResetData();
EnumCallback callback;
BuiltInAccelerometer::Range range = BuiltInAccelerometer::kRange_4G;
auto cb = sim.RegisterRangeCallback(callback.GetCallback(), false);
BuiltInAccelerometer accel(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
// 2G
callback.Reset();
range = BuiltInAccelerometer::kRange_2G;
accel.SetRange(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
// 4G
callback.Reset();
range = BuiltInAccelerometer::kRange_4G;
accel.SetRange(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
// 8G
callback.Reset();
range = BuiltInAccelerometer::kRange_8G;
accel.SetRange(range);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(static_cast<int>(range), sim.GetRange());
EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
}
} // namespace frc::sim

2
wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
View File

@@ -10,7 +10,6 @@
#include "frc/simulation/AddressableLEDSim.h"
#include "frc/simulation/AnalogInputSim.h"
#include "frc/simulation/AnalogTriggerSim.h"
#include "frc/simulation/BuiltInAccelerometerSim.h"
#include "frc/simulation/CTREPCMSim.h"
#include "frc/simulation/DIOSim.h"
#include "frc/simulation/DigitalPWMSim.h"
@@ -25,7 +24,6 @@ using namespace frc::sim;
TEST(SimInitializationTest, AllInitialize) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim biacsim;
AnalogInputSim aisim{0};
EXPECT_THROW(AnalogTriggerSim::CreateForChannel(0), std::out_of_range);
EXPECT_THROW(DigitalPWMSim::CreateForChannel(0), std::out_of_range);

12
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
View File

@@ -63,18 +63,6 @@ units::meter_t Drivetrain::GetAverageDistance() {
return (GetLeftDistance() + GetRightDistance()) / 2.0;
}
units::meters_per_second_squared_t Drivetrain::GetAccelX() {
return units::meters_per_second_squared_t{m_accelerometer.GetX()};
}
units::meters_per_second_squared_t Drivetrain::GetAccelY() {
return units::meters_per_second_squared_t{m_accelerometer.GetY()};
}
units::meters_per_second_squared_t Drivetrain::GetAccelZ() {
return units::meters_per_second_squared_t{m_accelerometer.GetZ()};
}
units::radian_t Drivetrain::GetGyroAngleX() {
return m_gyro.GetAngleX();
}

23
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
View File

@@ -4,7 +4,6 @@
#pragma once
#include <frc/BuiltInAccelerometer.h>
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/Spark.h>
@@ -74,27 +73,6 @@ class Drivetrain : public frc2::SubsystemBase {
*/
units::meter_t GetAverageDistance();
/**
* The acceleration in the X-axis.
*
* @return The acceleration of the Romi along the X-axis.
*/
units::meters_per_second_squared_t GetAccelX();
/**
* The acceleration in the Y-axis.
*
* @return The acceleration of the Romi along the Y-axis.
*/
units::meters_per_second_squared_t GetAccelY();
/**
* The acceleration in the Z-axis.
*
* @return The acceleration of the Romi along the Z-axis.
*/
units::meters_per_second_squared_t GetAccelZ();
/**
* Current angle of the Romi around the X-axis.
*
@@ -133,5 +111,4 @@ class Drivetrain : public frc2::SubsystemBase {
[&](double output) { m_rightMotor.Set(output); }};
frc::RomiGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;
};

12
wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
View File

@@ -63,18 +63,6 @@ units::meter_t Drivetrain::GetAverageDistance() {
return (GetLeftDistance() + GetRightDistance()) / 2.0;
}
units::meters_per_second_squared_t Drivetrain::GetAccelX() {
return units::meters_per_second_squared_t{m_accelerometer.GetX()};
}
units::meters_per_second_squared_t Drivetrain::GetAccelY() {
return units::meters_per_second_squared_t{m_accelerometer.GetY()};
}
units::meters_per_second_squared_t Drivetrain::GetAccelZ() {
return units::meters_per_second_squared_t{m_accelerometer.GetZ()};
}
units::radian_t Drivetrain::GetGyroAngleX() {
return m_gyro.GetAngleX();
}

23
wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h
View File

@@ -4,7 +4,6 @@
#pragma once
#include <frc/BuiltInAccelerometer.h>
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/xrp/XRPGyro.h>
@@ -78,27 +77,6 @@ class Drivetrain : public frc2::SubsystemBase {
*/
units::meter_t GetAverageDistance();
/**
* The acceleration in the X-axis.
*
* @return The acceleration of the XRP along the X-axis.
*/
units::meters_per_second_squared_t GetAccelX();
/**
* The acceleration in the Y-axis.
*
* @return The acceleration of the XRP along the Y-axis.
*/
units::meters_per_second_squared_t GetAccelY();
/**
* The acceleration in the Z-axis.
*
* @return The acceleration of the XRP along the Z-axis.
*/
units::meters_per_second_squared_t GetAccelZ();
/**
* Current angle of the XRP around the X-axis.
*
@@ -137,5 +115,4 @@ class Drivetrain : public frc2::SubsystemBase {
[&](double output) { m_rightMotor.Set(output); }};
frc::XRPGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;
};

106
wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
View File

@@ -1,106 +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.
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.AccelerometerJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
/**
* Built-in accelerometer.
*
* <p>This class allows access to the roboRIO's internal accelerometer.
*/
public class BuiltInAccelerometer implements Sendable, AutoCloseable {
/** Accelerometer range. */
public enum Range {
/** 2 Gs max. */
k2G,
/** 4 Gs max. */
k4G,
/** 8 Gs max. */
k8G
}
/**
* Constructor.
*
* @param range The range the accelerometer will measure
*/
@SuppressWarnings("this-escape")
public BuiltInAccelerometer(Range range) {
setRange(range);
HAL.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
SendableRegistry.addLW(this, "BuiltInAccel", 0);
}
/** Constructor. The accelerometer will measure +/-8 g-forces */
public BuiltInAccelerometer() {
this(Range.k8G);
}
@Override
public void close() {
SendableRegistry.remove(this);
}
/**
* Set the measuring range of the accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the accelerometer will
* measure.
*/
public final void setRange(Range range) {
AccelerometerJNI.setAccelerometerActive(false);
int rangeValue =
switch (range) {
case k2G -> 0;
case k4G -> 1;
case k8G -> 2;
};
AccelerometerJNI.setAccelerometerRange(rangeValue);
AccelerometerJNI.setAccelerometerActive(true);
}
/**
* The acceleration in the X axis.
*
* @return The acceleration of the roboRIO along the X axis in g-forces
*/
public double getX() {
return AccelerometerJNI.getAccelerometerX();
}
/**
* The acceleration in the Y axis.
*
* @return The acceleration of the roboRIO along the Y axis in g-forces
*/
public double getY() {
return AccelerometerJNI.getAccelerometerY();
}
/**
* The acceleration in the Z axis.
*
* @return The acceleration of the roboRIO along the Z axis in g-forces
*/
public double getZ() {
return AccelerometerJNI.getAccelerometerZ();
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("3AxisAccelerometer");
builder.addDoubleProperty("X", this::getX, null);
builder.addDoubleProperty("Y", this::getY, null);
builder.addDoubleProperty("Z", this::getZ, null);
}
}

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
View File

@@ -321,13 +321,6 @@ public enum BuiltInWidgets implements WidgetType {
/**
* Displays an accelerometer with a number bar displaying the magnitude of the acceleration and
* text displaying the exact value. <br>
* Supported types:
*
* <ul>
* <li>{@link edu.wpi.first.wpilibj.AnalogAccelerometer}
* </ul>
*
* <br>
* Custom properties:
*
* <table>

184
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java
View File

@@ -1,184 +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.
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;
/** Class to control a simulated built-in accelerometer. */
public class BuiltInAccelerometerSim {
private final int m_index;
/** 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;
}
/**
* Register a callback to be run when this accelerometer activates.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerActiveCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AccelerometerDataJNI.registerActiveCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelActiveCallback);
}
/**
* Check whether the accelerometer is active.
*
* @return true if active
*/
public boolean getActive() {
return AccelerometerDataJNI.getActive(m_index);
}
/**
* Define whether this accelerometer is active.
*
* @param active the new state
*/
public void setActive(boolean active) {
AccelerometerDataJNI.setActive(m_index, active);
}
/**
* Register a callback to be run whenever the range changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerRangeCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AccelerometerDataJNI.registerRangeCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelRangeCallback);
}
/**
* Check the range of this accelerometer.
*
* @return the accelerometer range
*/
public int getRange() {
return AccelerometerDataJNI.getRange(m_index);
}
/**
* Change the range of this accelerometer.
*
* @param range the new accelerometer range
*/
public void setRange(int range) {
AccelerometerDataJNI.setRange(m_index, range);
}
/**
* Register a callback to be run whenever the X axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerXCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AccelerometerDataJNI.registerXCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelXCallback);
}
/**
* Measure the X axis value.
*
* @return the X axis measurement
*/
public double getX() {
return AccelerometerDataJNI.getX(m_index);
}
/**
* Change the X axis value of the accelerometer.
*
* @param x the new reading of the X axis
*/
public void setX(double x) {
AccelerometerDataJNI.setX(m_index, x);
}
/**
* Register a callback to be run whenever the Y axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerYCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AccelerometerDataJNI.registerYCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelYCallback);
}
/**
* Measure the Y axis value.
*
* @return the Y axis measurement
*/
public double getY() {
return AccelerometerDataJNI.getY(m_index);
}
/**
* Change the Y axis value of the accelerometer.
*
* @param y the new reading of the Y axis
*/
public void setY(double y) {
AccelerometerDataJNI.setY(m_index, y);
}
/**
* Register a callback to be run whenever the Z axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerZCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AccelerometerDataJNI.registerZCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelZCallback);
}
/**
* Measure the Z axis value.
*
* @return the Z axis measurement
*/
public double getZ() {
return AccelerometerDataJNI.getZ(m_index);
}
/**
* Change the Z axis value of the accelerometer.
*
* @param z the new reading of the Z axis
*/
public void setZ(double z) {
AccelerometerDataJNI.setZ(m_index, z);
}
/** Reset all simulation data of this object. */
public void resetData() {
AccelerometerDataJNI.resetData(m_index);
}
}

135
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java
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@@ -1,135 +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.
package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.EnumCallback;
import org.junit.jupiter.api.Test;
class AccelerometerSimTest {
@Test
void testCallbacks() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
BooleanCallback store = new BooleanCallback();
try (CallbackStore cb = sim.registerActiveCallback(store, false)) {
assertFalse(store.wasTriggered());
sim.setActive(true);
assertTrue(sim.getActive());
assertTrue(store.wasTriggered());
assertTrue(store.getSetValue());
}
}
@Test
void testX() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
DoubleCallback callback = new DoubleCallback();
final double kTestValue = 1.91;
try (BuiltInAccelerometer accel = new BuiltInAccelerometer();
CallbackStore cb = sim.registerXCallback(callback, false)) {
sim.setX(kTestValue);
assertEquals(kTestValue, accel.getX());
assertEquals(kTestValue, sim.getX());
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
}
}
@Test
void testY() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
DoubleCallback callback = new DoubleCallback();
final double kTestValue = 2.29;
try (BuiltInAccelerometer accel = new BuiltInAccelerometer();
CallbackStore cb = sim.registerYCallback(callback, false)) {
sim.setY(kTestValue);
assertEquals(kTestValue, accel.getY());
assertEquals(kTestValue, sim.getY());
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
}
}
@Test
void testZ() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
DoubleCallback callback = new DoubleCallback();
final double kTestValue = 3.405;
try (BuiltInAccelerometer accel = new BuiltInAccelerometer();
CallbackStore cb = sim.registerZCallback(callback, false)) {
sim.setZ(kTestValue);
assertEquals(kTestValue, accel.getZ());
assertEquals(kTestValue, sim.getZ());
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
}
}
@Test
void testRange() {
HAL.initialize(500, 0);
BuiltInAccelerometerSim sim = new BuiltInAccelerometerSim();
sim.resetData();
EnumCallback callback = new EnumCallback();
BuiltInAccelerometer.Range range = BuiltInAccelerometer.Range.k4G;
try (CallbackStore cb = sim.registerRangeCallback(callback, false);
BuiltInAccelerometer accel = new BuiltInAccelerometer(range)) {
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
// 2G
callback.reset();
range = BuiltInAccelerometer.Range.k2G;
accel.setRange(range);
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
// 4G
callback.reset();
range = BuiltInAccelerometer.Range.k4G;
accel.setRange(range);
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
// 8G
callback.reset();
range = BuiltInAccelerometer.Range.k8G;
accel.setRange(range);
assertTrue(callback.wasTriggered());
assertEquals(range.ordinal(), sim.getRange());
assertEquals(range.ordinal(), callback.getSetValue());
}
}
}

31
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
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@@ -5,7 +5,6 @@
package edu.wpi.first.wpilibj.examples.romireference.subsystems;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
@@ -33,9 +32,6 @@ public class Drivetrain extends SubsystemBase {
// Set up the RomiGyro
private final RomiGyro m_gyro = new RomiGyro();
// Set up the BuiltInAccelerometer
private final BuiltInAccelerometer m_accelerometer = new BuiltInAccelerometer();
/** Creates a new Drivetrain. */
public Drivetrain() {
SendableRegistry.addChild(m_diffDrive, m_leftMotor);
@@ -81,33 +77,6 @@ public class Drivetrain extends SubsystemBase {
return (getLeftDistanceInch() + getRightDistanceInch()) / 2.0;
}
/**
* The acceleration in the X-axis.
*
* @return The acceleration of the Romi along the X-axis in Gs
*/
public double getAccelX() {
return m_accelerometer.getX();
}
/**
* The acceleration in the Y-axis.
*
* @return The acceleration of the Romi along the Y-axis in Gs
*/
public double getAccelY() {
return m_accelerometer.getY();
}
/**
* The acceleration in the Z-axis.
*
* @return The acceleration of the Romi along the Z-axis in Gs
*/
public double getAccelZ() {
return m_accelerometer.getZ();
}
/**
* Current angle of the Romi around the X-axis.
*

31
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Drivetrain.java
View File

@@ -5,7 +5,6 @@
package edu.wpi.first.wpilibj.examples.xrpreference.subsystems;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.xrp.XRPGyro;
@@ -36,9 +35,6 @@ public class Drivetrain extends SubsystemBase {
// Set up the XRPGyro
private final XRPGyro m_gyro = new XRPGyro();
// Set up the BuiltInAccelerometer
private final BuiltInAccelerometer m_accelerometer = new BuiltInAccelerometer();
/** Creates a new Drivetrain. */
public Drivetrain() {
SendableRegistry.addChild(m_diffDrive, m_leftMotor);
@@ -84,33 +80,6 @@ public class Drivetrain extends SubsystemBase {
return (getLeftDistanceInch() + getRightDistanceInch()) / 2.0;
}
/**
* The acceleration in the X-axis.
*
* @return The acceleration of the XRP along the X-axis in Gs
*/
public double getAccelX() {
return m_accelerometer.getX();
}
/**
* The acceleration in the Y-axis.
*
* @return The acceleration of the XRP along the Y-axis in Gs
*/
public double getAccelY() {
return m_accelerometer.getY();
}
/**
* The acceleration in the Z-axis.
*
* @return The acceleration of the XRP along the Z-axis in Gs
*/
public double getAccelZ() {
return m_accelerometer.getZ();
}
/**
* Current angle of the XRP around the X-axis.
*