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https://github.com/wpilibsuite/allwpilib
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[hal, wpilib] Remove built in accelerometer (#7702)
This commit is contained in:
Thad House
@@ -1,47 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/BuiltInAccelerometer.h"
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#include <hal/Accelerometer.h>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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using namespace frc;
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BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
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"Built-in accelerometer");
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wpi::SendableRegistry::AddLW(this, "BuiltInAccel");
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}
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void BuiltInAccelerometer::SetRange(Range range) {
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HAL_SetAccelerometerActive(false);
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HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
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HAL_SetAccelerometerActive(true);
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}
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double BuiltInAccelerometer::GetX() {
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return HAL_GetAccelerometerX();
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}
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double BuiltInAccelerometer::GetY() {
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return HAL_GetAccelerometerY();
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}
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double BuiltInAccelerometer::GetZ() {
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return HAL_GetAccelerometerZ();
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}
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void BuiltInAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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builder.AddDoubleProperty("X", [=, this] { return GetX(); }, nullptr);
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builder.AddDoubleProperty("Y", [=, this] { return GetY(); }, nullptr);
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builder.AddDoubleProperty("Z", [=, this] { return GetZ(); }, nullptr);
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}
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@@ -1,108 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/simulation/BuiltInAccelerometerSim.h"
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#include <memory>
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#include <hal/simulation/AccelerometerData.h>
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#include "frc/BuiltInAccelerometer.h"
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using namespace frc;
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using namespace frc::sim;
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BuiltInAccelerometerSim::BuiltInAccelerometerSim() : m_index{0} {}
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BuiltInAccelerometerSim::BuiltInAccelerometerSim(const BuiltInAccelerometer&)
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: m_index{0} {}
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std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterActiveCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAccelerometerActiveCallback);
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store->SetUid(HALSIM_RegisterAccelerometerActiveCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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bool BuiltInAccelerometerSim::GetActive() const {
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return HALSIM_GetAccelerometerActive(m_index);
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}
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void BuiltInAccelerometerSim::SetActive(bool active) {
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HALSIM_SetAccelerometerActive(m_index, active);
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}
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std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterRangeCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAccelerometerRangeCallback);
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store->SetUid(HALSIM_RegisterAccelerometerRangeCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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HAL_AccelerometerRange BuiltInAccelerometerSim::GetRange() const {
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return HALSIM_GetAccelerometerRange(m_index);
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}
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void BuiltInAccelerometerSim::SetRange(HAL_AccelerometerRange range) {
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HALSIM_SetAccelerometerRange(m_index, range);
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}
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std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterXCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAccelerometerXCallback);
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store->SetUid(HALSIM_RegisterAccelerometerXCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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double BuiltInAccelerometerSim::GetX() const {
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return HALSIM_GetAccelerometerX(m_index);
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}
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void BuiltInAccelerometerSim::SetX(double x) {
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HALSIM_SetAccelerometerX(m_index, x);
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}
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std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterYCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAccelerometerYCallback);
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store->SetUid(HALSIM_RegisterAccelerometerYCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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double BuiltInAccelerometerSim::GetY() const {
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return HALSIM_GetAccelerometerY(m_index);
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}
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void BuiltInAccelerometerSim::SetY(double y) {
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HALSIM_SetAccelerometerY(m_index, y);
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}
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std::unique_ptr<CallbackStore> BuiltInAccelerometerSim::RegisterZCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAccelerometerZCallback);
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store->SetUid(HALSIM_RegisterAccelerometerZCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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double BuiltInAccelerometerSim::GetZ() const {
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return HALSIM_GetAccelerometerZ(m_index);
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}
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void BuiltInAccelerometerSim::SetZ(double z) {
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HALSIM_SetAccelerometerZ(m_index, z);
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}
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void BuiltInAccelerometerSim::ResetData() {
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HALSIM_ResetAccelerometerData(m_index);
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}
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@@ -1,68 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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namespace frc {
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/**
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* Built-in accelerometer.
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*
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* This class allows access to the roboRIO's internal accelerometer.
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*/
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class BuiltInAccelerometer : public wpi::Sendable,
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public wpi::SendableHelper<BuiltInAccelerometer> {
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public:
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/**
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* Accelerometer range.
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*/
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enum Range {
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/// 2 Gs max.
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kRange_2G = 0,
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/// 4 Gs max.
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kRange_4G = 1,
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/// 8 Gs max.
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kRange_8G = 2
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};
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/**
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* Constructor.
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*
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* @param range The range the accelerometer will measure
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*/
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explicit BuiltInAccelerometer(Range range = kRange_8G);
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BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
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BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
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/**
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* Set the measuring range of the accelerometer.
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*
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* @param range The maximum acceleration, positive or negative, that the
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* accelerometer will measure.
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*/
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void SetRange(Range range);
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/**
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* @return The acceleration of the roboRIO along the X axis in g-forces
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*/
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double GetX();
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/**
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* @return The acceleration of the roboRIO along the Y axis in g-forces
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*/
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double GetY();
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/**
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* @return The acceleration of the roboRIO along the Z axis in g-forces
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*/
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double GetZ();
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void InitSendable(wpi::SendableBuilder& builder) override;
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};
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} // namespace frc
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@@ -1,170 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include <hal/Accelerometer.h>
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#include "frc/simulation/CallbackStore.h"
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namespace frc {
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class BuiltInAccelerometer;
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namespace sim {
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/**
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* Class to control a simulated built-in accelerometer.
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*/
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class BuiltInAccelerometerSim {
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public:
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/**
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* Constructs for the first built-in accelerometer.
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*/
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BuiltInAccelerometerSim();
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/**
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* Constructs from a BuiltInAccelerometer object.
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*
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* @param accel BuiltInAccelerometer to simulate
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*/
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explicit BuiltInAccelerometerSim(const BuiltInAccelerometer& accel);
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/**
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* Register a callback to be run when this accelerometer activates.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterActiveCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Check whether the accelerometer is active.
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*
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* @return true if active
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*/
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bool GetActive() const;
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/**
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* Define whether this accelerometer is active.
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*
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* @param active the new state
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*/
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void SetActive(bool active);
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/**
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* Register a callback to be run whenever the range changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterRangeCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Check the range of this accelerometer.
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*
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* @return the accelerometer range
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*/
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HAL_AccelerometerRange GetRange() const;
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/**
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* Change the range of this accelerometer.
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*
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* @param range the new accelerometer range
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*/
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void SetRange(HAL_AccelerometerRange range);
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/**
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* Register a callback to be run whenever the X axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterXCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Measure the X axis value.
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*
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* @return the X axis measurement
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*/
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double GetX() const;
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/**
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* Change the X axis value of the accelerometer.
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*
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* @param x the new reading of the X axis
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*/
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void SetX(double x);
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/**
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* Register a callback to be run whenever the Y axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterYCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Measure the Y axis value.
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*
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* @return the Y axis measurement
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*/
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double GetY() const;
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/**
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* Change the Y axis value of the accelerometer.
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*
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* @param y the new reading of the Y axis
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*/
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void SetY(double y);
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/**
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* Register a callback to be run whenever the Z axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterZCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Measure the Z axis value.
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*
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* @return the Z axis measurement
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*/
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double GetZ() const;
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/**
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* Change the Z axis value of the accelerometer.
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*
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* @param z the new reading of the Z axis
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*/
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void SetZ(double z);
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/**
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* Reset all simulation data of this object.
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*/
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void ResetData();
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private:
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int m_index;
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};
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} // namespace sim
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} // namespace frc
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