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Add Low Fidelity NetworkTables simulation extension (#823)

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This commit is contained in:
Jaci R
2017-12-30 14:54:18 +11:00
committed by Peter Johnson
parent c647a801ad
commit 76b182600a
24 changed files with 820 additions and 2 deletions
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2
hal/src/main/native/include/MockData/RelayData.h
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@@ -49,7 +49,7 @@ void HALSIM_CancelRelayReverseCallback(int32_t index, int32_t uid);
HAL_Bool HALSIM_GetRelayReverse(int32_t index);
void HALSIM_SetRelayReverse(int32_t index, HAL_Bool reverse);
void HALSIM_RegisterRelayAllCallcbaks(int32_t index,
void HALSIM_RegisterRelayAllCallbacks(int32_t index,
HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);

2
hal/src/main/native/sim/MockData/RelayData.cpp
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@@ -261,7 +261,7 @@ void HALSIM_SetRelayReverse(int32_t index, HAL_Bool reverse) {
SimRelayData[index].SetReverse(reverse);
}
void HALSIM_RegisterRelayAllCallcbaks(int32_t index,
void HALSIM_RegisterRelayAllCallbacks(int32_t index,
HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify) {
SimRelayData[index].RegisterInitializedForwardCallback(callback, param,

1
settings.gradle
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@@ -9,4 +9,5 @@ include 'wpilibjIntegrationTests'
include 'wpilibjExamples'
include 'myRobot'
include 'simulation:halsim_print'
include 'simulation:halsim_lowfi'
include 'simulation:adx_gyro_accelerometer'

58
simulation/halsim_lowfi/build.gradle Normal file
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@@ -0,0 +1,58 @@
description = "A simulation shared object that publishes basic robot I/O to NetworkTables."
apply plugin: 'edu.wpi.first.NativeUtils'
apply plugin: 'visual-studio'
apply plugin: 'cpp'
if (!project.hasProperty('onlyAthena')) {
ext.skipAthena = true
apply from: "../../config.gradle"
model {
dependencyConfigs {
ntcore(DependencyConfig) {
groupId = 'edu.wpi.first.ntcore'
artifactId = 'ntcore-cpp'
headerClassifier = 'headers'
ext = 'zip'
version = '4.+'
sharedConfigs = [ halsim_lowfi: [] ]
}
wpiutil(DependencyConfig) {
groupId = 'edu.wpi.first.wpiutil'
artifactId = 'wpiutil-cpp'
headerClassifier = 'headers'
ext = 'zip'
version = '3.+'
sharedConfigs = [ halsim_lowfi: [] ]
}
}
components {
halsim_lowfi(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs = [ 'src/main/native/cpp' ]
includes = ["**/*.cpp"]
}
exportedHeaders {
srcDirs = ["src/main/native/include"]
}
}
}
}
}
binaries {
all {
project(':hal').addHalToLinker(it)
}
withType(StaticLibraryBinarySpec) {
it.buildable = false
}
}
}
apply from: 'publish.gradle'
}

94
simulation/halsim_lowfi/publish.gradle Normal file
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@@ -0,0 +1,94 @@
apply plugin: 'maven-publish'
apply plugin: 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin'
if (!hasProperty('releaseType')) {
WPILibVersion {
releaseType = 'dev'
}
}
def pubVersion = ''
if (project.hasProperty("publishVersion")) {
pubVersion = project.publishVersion
} else {
pubVersion = WPILibVersion.version
}
def baseArtifactId = 'halsim-lowfi'
def artifactGroupId = 'edu.wpi.first.halsim'
def outputsFolder = file("$project.buildDir/outputs")
task cppSourcesZip(type: Zip) {
destinationDir = outputsFolder
baseName = 'halsim-lowfi'
classifier = "sources"
from(licenseFile) {
into '/'
}
from('src/main/native/cpp') {
into '/'
}
}
task cppHeadersZip(type: Zip) {
destinationDir = outputsFolder
baseName = 'halsim-lowfi'
classifier = "headers"
from(licenseFile) {
into '/'
}
from('src/main/native/include') {
into '/'
}
}
build.dependsOn cppSourcesZip
build.dependsOn cppHeadersZip
model {
publishing {
def pluginTaskList = createComponentZipTasks($.components, 'halsim_lowfi', 'zipcpp', Zip, project, { task, value->
value.each { binary->
if (binary.buildable) {
if (binary instanceof SharedLibraryBinarySpec) {
task.dependsOn binary.buildTask
task.from (binary.sharedLibraryFile) {
into getPlatformPath(binary) + '/shared'
}
}
}
}
})
def allTask
if (!project.hasProperty('jenkinsBuild')) {
allTask = createAllCombined(pluginTaskList, 'halsim_lowfi', 'zipcpp', Zip, project)
}
publications {
cpp(MavenPublication) {
pluginTaskList.each {
artifact it
}
if (!project.hasProperty('jenkinsBuild')) {
artifact allTask
}
artifact cppHeadersZip
artifact cppSourcesZip
artifactId = baseArtifactId
groupId artifactGroupId
version pubVersion
}
}
}
}

62
simulation/halsim_lowfi/src/main/native/cpp/HALSimLowFi.cpp Normal file
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@@ -0,0 +1,62 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HALSimLowFi.h"
#include <llvm/Twine.h>
void HALSimLowFi::Initialize() {
table = nt::NetworkTableInstance::GetDefault().GetTable("sim");
}
void HALSimNTProvider::Inject(std::shared_ptr<HALSimLowFi> parentArg,
std::string tableNameArg) {
parent = parentArg;
tableName = std::move(tableNameArg);
table = parent->table->GetSubTable(tableName);
this->Initialize();
}
void NTProviderBaseCallback(const char* name, void* param,
const struct HAL_Value* value) {
auto info =
static_cast<struct HALSimNTProvider::NTProviderCallbackInfo*>(param);
uint32_t chan = static_cast<uint32_t>(info->channel);
auto provider = info->provider;
auto table = info->table;
provider->OnCallback(chan, table);
}
void HALSimNTProvider::InitializeDefault(
int numChannels, HALCbRegisterIndexedFunc registerFunc) {
this->numChannels = numChannels;
cbInfos.reserve(numChannels);
for (int i = 0; i < numChannels; i++) {
struct NTProviderCallbackInfo info = {
this, table->GetSubTable(tableName + llvm::Twine(i)), i};
cbInfos.emplace_back(info);
}
for (auto& info : cbInfos) {
registerFunc(info.channel, NTProviderBaseCallback, &info, true);
OnInitializedChannel(info.channel, info.table);
}
}
void HALSimNTProvider::InitializeDefaultSingle(
HALCbRegisterSingleFunc registerFunc) {
struct NTProviderCallbackInfo info = {this, table, 0};
cbInfos.push_back(info);
for (auto& info : cbInfos) {
registerFunc(NTProviderBaseCallback, &info, true);
}
}
void HALSimNTProvider::OnInitializedChannel(
uint32_t channel, std::shared_ptr<nt::NetworkTable> table) {}

56
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Analog.cpp Normal file
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@@ -0,0 +1,56 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_Analog.h"
#include <HAL/Ports.h>
#include <MockData/AnalogInData.h>
#include <MockData/AnalogOutData.h>
void HALSimNTProviderAnalogIn::Initialize() {
InitializeDefault(HAL_GetNumAnalogInputs(),
HALSIM_RegisterAnalogInAllCallbacks);
}
void HALSimNTProviderAnalogIn::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogInInitialized(chan));
table->GetEntry("avg_bits").SetDouble(HALSIM_GetAnalogInAverageBits(chan));
table->GetEntry("oversample_bits")
.SetDouble(HALSIM_GetAnalogInOversampleBits(chan));
table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogInVoltage(chan));
auto accum = table->GetSubTable("accum");
accum->GetEntry("init?").SetBoolean(
HALSIM_GetAnalogInAccumulatorInitialized(chan));
accum->GetEntry("value").SetDouble(HALSIM_GetAnalogInAccumulatorValue(chan));
accum->GetEntry("count").SetDouble(HALSIM_GetAnalogInAccumulatorCount(chan));
accum->GetEntry("center").SetDouble(
HALSIM_GetAnalogInAccumulatorCenter(chan));
accum->GetEntry("deadband")
.SetDouble(HALSIM_GetAnalogInAccumulatorDeadband(chan));
}
void HALSimNTProviderAnalogIn::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("voltage").AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetAnalogInVoltage(chan, ev.value->GetDouble());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}
void HALSimNTProviderAnalogOut::Initialize() {
InitializeDefault(HAL_GetNumAnalogOutputs(),
HALSIM_RegisterAnalogOutAllCallbacks);
}
void HALSimNTProviderAnalogOut::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogOutInitialized(chan));
table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogOutVoltage(chan));
}

35
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DIO.cpp Normal file
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@@ -0,0 +1,35 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_DIO.h"
#include <HAL/Ports.h>
#include <MockData/DIOData.h>
void HALSimNTProviderDIO::Initialize() {
InitializeDefault(HAL_GetNumDigitalChannels(),
HALSIM_RegisterDIOAllCallbacks);
}
void HALSimNTProviderDIO::OnCallback(uint32_t chan,
std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetDIOInitialized(chan));
table->GetEntry("value").SetBoolean(HALSIM_GetDIOValue(chan));
table->GetEntry("pulse_length").SetDouble(HALSIM_GetDIOPulseLength(chan));
table->GetEntry("input?").SetBoolean(HALSIM_GetDIOIsInput(chan));
}
void HALSimNTProviderDIO::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("value").AddListener(
[=](const nt::EntryNotification& ev) -> void {
if (HALSIM_GetDIOIsInput(chan)) {
HALSIM_SetDIOValue(chan, ev.value->GetBoolean());
}
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}

61
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DriverStation.cpp Normal file
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@@ -0,0 +1,61 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_DriverStation.h"
#include <HAL/Ports.h>
#include <MockData/DriverStationData.h>
void HALSimNTProviderDriverStation::Initialize() {
InitializeDefaultSingle(HALSIM_RegisterDriverStationAllCallbacks);
}
void HALSimNTProviderDriverStation::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
bool auton = HALSIM_GetDriverStationAutonomous(),
test = HALSIM_GetDriverStationTest(),
enabled = HALSIM_GetDriverStationEnabled();
bool teleop = (!auton && !test && enabled);
table->GetEntry("enabled?").SetBoolean(enabled);
table->GetEntry("autonomous?").SetBoolean(auton);
table->GetEntry("test?").SetBoolean(test);
table->GetEntry("teleop?").SetBoolean(teleop);
table->GetEntry("estop?").SetBoolean(HALSIM_GetDriverStationEStop());
table->GetEntry("fms?").SetBoolean(HALSIM_GetDriverStationFmsAttached());
table->GetEntry("ds?").SetBoolean(HALSIM_GetDriverStationDsAttached());
table->GetEntry("match_time").SetDouble(HALSIM_GetDriverStationMatchTime());
// TODO: Joysticks
auto alliance = table->GetSubTable("alliance");
auto allianceValue = HALSIM_GetDriverStationAllianceStationId();
alliance->GetEntry("color").SetString(
(allianceValue == HAL_AllianceStationID_kRed1 ||
allianceValue == HAL_AllianceStationID_kRed2 ||
allianceValue == HAL_AllianceStationID_kRed3)
? "red"
: "blue");
int station = 0;
switch (allianceValue) {
case HAL_AllianceStationID_kRed1:
case HAL_AllianceStationID_kBlue1:
station = 1;
break;
case HAL_AllianceStationID_kRed2:
case HAL_AllianceStationID_kBlue2:
station = 2;
break;
case HAL_AllianceStationID_kRed3:
case HAL_AllianceStationID_kBlue3:
station = 3;
break;
}
alliance->GetEntry("station").SetDouble(station);
}

46
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Encoder.cpp Normal file
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@@ -0,0 +1,46 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_Encoder.h"
#include <HAL/Ports.h>
#include <MockData/EncoderData.h>
void HALSimNTProviderEncoder::Initialize() {
InitializeDefault(HAL_GetNumEncoders(), HALSIM_RegisterEncoderAllCallbacks);
}
void HALSimNTProviderEncoder::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetEncoderInitialized(chan));
table->GetEntry("count").SetDouble(HALSIM_GetEncoderCount(chan));
table->GetEntry("period").SetDouble(HALSIM_GetEncoderPeriod(chan));
table->GetEntry("reset?").SetBoolean(HALSIM_GetEncoderReset(chan));
table->GetEntry("max_period").SetDouble(HALSIM_GetEncoderMaxPeriod(chan));
table->GetEntry("direction").SetBoolean(HALSIM_GetEncoderDirection(chan));
table->GetEntry("reverse_direction?")
.SetBoolean(HALSIM_GetEncoderReverseDirection(chan));
table->GetEntry("samples_to_avg")
.SetDouble(HALSIM_GetEncoderSamplesToAverage(chan));
}
void HALSimNTProviderEncoder::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("count").AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetEncoderCount(chan,
static_cast<int32_t>(ev.value->GetDouble()));
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
table->GetEntry("direction")
.AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetEncoderDirection(chan, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}

25
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_PWM.cpp Normal file
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@@ -0,0 +1,25 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_PWM.h"
#include <HAL/Ports.h>
#include <MockData/PWMData.h>
void HALSimNTProviderPWM::Initialize() {
InitializeDefault(HAL_GetNumPWMChannels(), HALSIM_RegisterPWMAllCallbacks);
}
void HALSimNTProviderPWM::OnCallback(uint32_t chan,
std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetPWMInitialized(chan));
table->GetEntry("speed").SetDouble(HALSIM_GetPWMSpeed(chan));
table->GetEntry("position").SetDouble(HALSIM_GetPWMPosition(chan));
table->GetEntry("raw").SetDouble(HALSIM_GetPWMRawValue(chan));
table->GetEntry("period_scale").SetDouble(HALSIM_GetPWMPeriodScale(chan));
table->GetEntry("zero_latch?").SetBoolean(HALSIM_GetPWMZeroLatch(chan));
}

25
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Relay.cpp Normal file
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@@ -0,0 +1,25 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_Relay.h"
#include <HAL/Ports.h>
#include <MockData/RelayData.h>
void HALSimNTProviderRelay::Initialize() {
InitializeDefault(HAL_GetNumRelayHeaders(), HALSIM_RegisterRelayAllCallbacks);
}
void HALSimNTProviderRelay::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init_fwd?")
.SetBoolean(HALSIM_GetRelayInitializedForward(chan));
table->GetEntry("init_rvs?")
.SetBoolean(HALSIM_GetRelayInitializedReverse(chan));
table->GetEntry("fwd?").SetBoolean(HALSIM_GetRelayForward(chan));
table->GetEntry("rvs?").SetBoolean(HALSIM_GetRelayReverse(chan));
}

51
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_RoboRIO.cpp Normal file
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@@ -0,0 +1,51 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_RoboRIO.h"
#include <HAL/Ports.h>
#include <MockData/RoboRioData.h>
void HALSimNTProviderRoboRIO::Initialize() {
InitializeDefault(1, HALSIM_RegisterRoboRioAllCallbacks);
}
void HALSimNTProviderRoboRIO::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("fpga_button?").SetBoolean(HALSIM_GetRoboRioFPGAButton(chan));
table->GetEntry("vin_voltage").SetDouble(HALSIM_GetRoboRioVInVoltage(chan));
table->GetEntry("vin_current").SetDouble(HALSIM_GetRoboRioVInCurrent(chan));
auto t6v = table->GetSubTable("6V");
t6v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage6V(chan));
t6v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent6V(chan));
t6v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive6V(chan));
t6v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults6V(chan));
auto t5v = table->GetSubTable("5V");
t5v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage5V(chan));
t5v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent5V(chan));
t5v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive5V(chan));
t5v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults5V(chan));
auto t3v3 = table->GetSubTable("3V3");
t3v3->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage3V3(chan));
t3v3->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent3V3(chan));
t3v3->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive3V3(chan));
t3v3->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults3V3(chan));
}
void HALSimNTProviderRoboRIO::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("fpga_button?")
.AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetRoboRioFPGAButton(chan, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}

23
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_dPWM.cpp Normal file
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@@ -0,0 +1,23 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_dPWM.h"
#include <HAL/Ports.h>
#include <MockData/DigitalPWMData.h>
void HALSimNTProviderDigitalPWM::Initialize() {
InitializeDefault(HAL_GetNumDigitalPWMOutputs(),
HALSIM_RegisterDigitalPWMAllCallbacks);
}
void HALSimNTProviderDigitalPWM::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetDigitalPWMInitialized(chan));
table->GetEntry("dio_pin").SetDouble(HALSIM_GetDigitalPWMPin(chan));
table->GetEntry("duty_cycle").SetDouble(HALSIM_GetDigitalPWMDutyCycle(chan));
}

56
simulation/halsim_lowfi/src/main/native/cpp/main.cpp Normal file
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@@ -0,0 +1,56 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <HALSimLowFi.h>
#include <NTProvider_Analog.h>
#include <NTProvider_DIO.h>
#include <NTProvider_DriverStation.h>
#include <NTProvider_Encoder.h>
#include <NTProvider_PWM.h>
#include <NTProvider_Relay.h>
#include <NTProvider_RoboRIO.h>
#include <NTProvider_dPWM.h>
static HALSimLowFi halsim_lowfi;
static HALSimNTProviderPWM pwm_provider;
static HALSimNTProviderDigitalPWM dpwm_provider;
static HALSimNTProviderDIO dio_provider;
static HALSimNTProviderAnalogIn ai_provider;
static HALSimNTProviderAnalogOut ao_provider;
static HALSimNTProviderDriverStation ds_provider;
static HALSimNTProviderEncoder encoder_provider;
static HALSimNTProviderRelay relay_provider;
static HALSimNTProviderRoboRIO roborio_provider;
extern "C" {
#if defined(WIN32) || defined(_WIN32)
__declspec(dllexport)
#endif
int HALSIM_InitExtension(void) {
std::cout << "NetworkTables LowFi Simulator Initializing." << std::endl;
halsim_lowfi.Initialize();
halsim_lowfi.table->GetInstance().StartServer("networktables.ini");
halsim_lowfi.table->GetInstance().SetUpdateRate(0.05);
auto lowfi = std::make_shared<HALSimLowFi>(halsim_lowfi);
pwm_provider.Inject(lowfi, "PWM");
dpwm_provider.Inject(lowfi, "dPWM");
dio_provider.Inject(lowfi, "DIO");
ai_provider.Inject(lowfi, "AI");
ao_provider.Inject(lowfi, "AO");
ds_provider.Inject(lowfi, "DriverStation");
encoder_provider.Inject(lowfi, "Encoder");
relay_provider.Inject(lowfi, "Relay");
roborio_provider.Inject(lowfi, "RoboRIO");
std::cout << "NetworkTables LowFi Simulator Initialized!" << std::endl;
return 0;
}
} // extern "C"

58
simulation/halsim_lowfi/src/main/native/include/HALSimLowFi.h Normal file
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@@ -0,0 +1,58 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <cinttypes>
#include <memory>
#include <string>
#include <vector>
#include <MockData/NotifyListener.h>
#include <networktables/NetworkTableInstance.h>
class HALSimLowFi {
public:
std::shared_ptr<nt::NetworkTable> table;
void Initialize();
};
typedef void (*HALCbRegisterIndexedFunc)(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
typedef void (*HALCbRegisterSingleFunc)(HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
void NTProviderBaseCallback(const char* name, void* param,
const struct HAL_Value* value);
class HALSimNTProvider {
public:
struct NTProviderCallbackInfo {
HALSimNTProvider* provider;
std::shared_ptr<nt::NetworkTable> table;
int channel;
};
void Inject(std::shared_ptr<HALSimLowFi> parent, std::string table);
// Initialize is called by inject.
virtual void Initialize() = 0;
virtual void InitializeDefault(int numChannels,
HALCbRegisterIndexedFunc registerFunc);
virtual void InitializeDefaultSingle(HALCbRegisterSingleFunc registerFunc);
virtual void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) = 0;
virtual void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table);
int numChannels;
std::string tableName;
std::shared_ptr<HALSimLowFi> parent;
std::shared_ptr<nt::NetworkTable> table;
std::vector<NTProviderCallbackInfo> cbInfos;
};

28
simulation/halsim_lowfi/src/main/native/include/NTProvider_Analog.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderAnalogIn : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};
class HALSimNTProviderAnalogOut : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

21
simulation/halsim_lowfi/src/main/native/include/NTProvider_DIO.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderDIO : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_DriverStation.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderDriverStation : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

21
simulation/halsim_lowfi/src/main/native/include/NTProvider_Encoder.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderEncoder : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_PWM.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderPWM : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_Relay.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderRelay : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

21
simulation/halsim_lowfi/src/main/native/include/NTProvider_RoboRIO.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderRoboRIO : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
void OnInitializedChannel(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};

19
simulation/halsim_lowfi/src/main/native/include/NTProvider_dPWM.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <HALSimLowFi.h>
class HALSimNTProviderDigitalPWM : public HALSimNTProvider {
public:
void Initialize() override;
void OnCallback(uint32_t channel,
std::shared_ptr<nt::NetworkTable> table) override;
};