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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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96
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_BuiltInAccelerometer.cpp
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@@ -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